ESP32 and CJMCU230 canbus control odrive

Hi ı have a esp32 and cjmcu 230 canbus board, ı want control my odesc odrive 3.6 with esp32 via canbus because ı should use 3 odrive and ı dont have enough serial port, anyone can help me still ı try, thanks for helping
my odrive

my canbus board ı find that library and ı can read messages from odrive, but ı cant send messages, only read to heartbeat data