CAN BUS shield and Arduino Uno with Gyrometre

Hi all

I am currently working on an automotive project and I need to simulate CAN BUS architecture using Arduino. Currently, I have my CAN BUS shield by Sparkfun (CAN-BUS Shield - DEV-13262 - SparkFun Electronics) attached with my Arduino Uno and Gyrometre MinIMU 9-v5 by Pololu (Pololu - MinIMU-9 v5 Gyro, Accelerometer, and Compass (LSM6DS33 and LIS3MDL Carrier)). I am able to retrieve the gyrometre reading via I2C, however I need to send these data via CAN Bus packet via CAN H and CAN L and I can't find a proper documentation for this. Some suggested by using Arduino Uno I am able to create a bridge for I2C and SPI communication and then take the data from SPI to transmit the data through CAN H and CAN L. But I do not know how to do so.

I would appreciate if someone can help me out with this. Thanks !