Use own CAN bus

I want to use a CAN port of the CUAV NORA flight controller to connect CAN analyzer. How should I use PX4 to make the analyzer communicate with the flight controller?My ultimate goal is for the flight controller to receive the data from the analyzer (such as 1A 2B 3C 4D), the flight controller returns the analyzer data (such as 2B 3C 4D 5E)