Hi Junyi,
you can use FIR filter from AMMCLIB:
Automotive Math and Motor Control Library Set | NXP
The library is already integrated in the S32 Design Studio:
c:\NXP\S32DS_Power_v2.1\S32DS\software\AMMCLIB_1.1.15\MPC574xG_AMMCLIB_v1.1.15\
Search for GDFLIB_FilterFIR in the documentation.
Regards,
Lukas