Greetings @BoaheneJeffrey,
Just to make sure I understand, are you primarily looking for an example of how to interface with CAN in C?
If so then the common method would be to use SocketCAN. Another customer actually has done this and provided their code in another thread here: Error binding can0 on ApalisiMX8 using socketcan
As for interfacing this with the Crank part of the stack this may need further comment from slack themselves.
Does this information help? Or are you looking for something else?
Best Regards,
Jeremias