I am unable to connect run Motor Profiler through STEVAL ESC001V1. How do I connect it and run my motor?

I have followed the steps as shown in the UM2200 Manual. However, I am still unable to connect to the firmware. I upload the code using STM Cube IDE v1.6.1. On running the Motor Profiler again, it updates the firmware but then shows error in Serial Communication. I am using FTDI USB-RS232-UART connector and ST Link v2 for connections.

In UM2200, the version of MCSDK used is v4.3, while the one I am using is v5.4. However, I am unable to find the older version on the ST website.

How do I connect so that I can give PWM inputs to the ESC and also enable CAN?