How can I set up XCP Transport Layer with CAN for my own controller?

Now I'm trying to make own hardware support package that is able to build executable for our own target hardware.

From the build process, I would like to use external mode based on XCP protocol which is already explained in below help page.

https://de.mathworks.com/help/releases/R2018b/rtw/ug/creating-a-tcp-ip-transport-layer-for-external-communication.html#f79419

It seems however it supports only TCP-IP or Serial communication (RS-232), not CAN communication that is only way to communicate our own hardware. How can I set up the XCP Transport layer with CAN communication?