How to use the CAN bus peripheral built-in ESP32 chip

[Beck-Sisyphus]

I've used ESP8266 module before and plan to use ESP wroom 32 module for my recent project. I'm so excited to see ESP32 has built-in CAN bus peripherals, but I never see any support in RTOS API. Is this part of peripherals supported by ESP wroom 32 board API? Anyway I can access CAN bus by register?

[WiFive]

http://esp32.com/viewtopic.php?p=2407#p2407