Using CAN with STM32F4

I am trying to receive CAN data on my STM32F4 board. Is there any lead on what peripherals to use and how I should go with coding this out in rust, any help is appreciated.

I suppose should have gone through the hal crate first, if anyone is looking for it in the future here is the link: GitHub - stm32-rs/stm32f4xx-hal: A Rust embedded-hal HAL for all MCUs in the STM32 F4 family