ST STM32G4 Series Reference Manual page 1946

FD controller area network (FDCAN)
44.2 FDCAN main features
• Conform with CAN protocol version 2.0 part A, B and ISO 11898-1: 2015, -4
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CAN FD with maximum 64 data bytes supported
• CAN error logging
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AUTOSAR and J1939 support
• Improved acceptance filtering
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Two Receive FIFOs of three payloads each (up to 64 Bytes per payload)
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Separate signaling on reception of High priority messages
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Configurable Transmit FIFO / queue of three payload (up to 64 Bytes per payload)
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Transmit Event FIFO
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Programmable loop-back test mode
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Maskable module interrupts
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Two clock domains: APB bus interface and CAN core kernel clock
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Power down support
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