diff --git a/src/stm32/Kconfig b/src/stm32/Kconfig
index f5232c5..7f9b3cc 100644
--- a/src/stm32/Kconfig
+++ b/src/stm32/Kconfig
@@ -392,7 +392,7 @@ choice
         select CANSERIAL
     config STM32_MMENU_CANBUS_PB12_PB13
         bool "CAN bus (on PB12/PB13)" if LOW_LEVEL_OPTIONS
-        depends on HAVE_STM32_CANBUS && MACH_STM32F4
+        depends on (HAVE_STM32_CANBUS && MACH_STM32F4) || HAVE_STM32_FDCANBUS
         select CANSERIAL
     config STM32_MMENU_CANBUS_PD0_PD1
         bool "CAN bus (on PD0/PD1)" if LOW_LEVEL_OPTIONS
@@ -424,10 +424,10 @@ choice
         depends on HAVE_STM32_CANBUS && MACH_STM32F4
     config STM32_CMENU_CANBUS_PB5_PB6
         bool "CAN bus (on PB5/PB6)"
-        depends on HAVE_STM32_CANBUS && MACH_STM32F4
+        depends on (HAVE_STM32_CANBUS && MACH_STM32F4) || (HAVE_STM32_FDCANBUS && MACH_STM32G0B1)
     config STM32_CMENU_CANBUS_PB12_PB13
         bool "CAN bus (on PB12/PB13)"
-        depends on HAVE_STM32_CANBUS && MACH_STM32F4
+        depends on (HAVE_STM32_CANBUS && MACH_STM32F4) || HAVE_STM32_FDCANBUS
     config STM32_CMENU_CANBUS_PD0_PD1
         bool "CAN bus (on PD0/PD1)"
         depends on HAVE_STM32_CANBUS || HAVE_STM32_FDCANBUS
diff --git a/src/stm32/fdcan.c b/src/stm32/fdcan.c
index 3b01b48..a1624f8 100644
--- a/src/stm32/fdcan.c
+++ b/src/stm32/fdcan.c
@@ -46,9 +46,18 @@
  DECL_CONSTANT_STR("RESERVE_PINS_CAN", "PC2,PC3");
  #define GPIO_Rx GPIO('C', 2)
  #define GPIO_Tx GPIO('C', 3)
+#elif CONFIG_STM32_CANBUS_PB5_PB6
+ DECL_CONSTANT_STR("RESERVE_PINS_CAN", "PB5,PB6");
+ #define GPIO_Rx GPIO('B', 5)
+ #define GPIO_Tx GPIO('B', 6)
+#elif CONFIG_STM32_CANBUS_PB12_PB13
+ DECL_CONSTANT_STR("RESERVE_PINS_CAN", "PB12,PB13");
+ #define GPIO_Rx GPIO('B', 12)
+ #define GPIO_Tx GPIO('B', 13)
 #endif
 
-#if !(CONFIG_STM32_CANBUS_PB0_PB1 || CONFIG_STM32_CANBUS_PC2_PC3)
+#if !(CONFIG_STM32_CANBUS_PB0_PB1 || CONFIG_STM32_CANBUS_PC2_PC3 \
+     || CONFIG_STM32_CANBUS_PB5_PB6 ||CONFIG_STM32_CANBUS_PB12_PB13)
  #define SOC_CAN FDCAN1
  #define MSG_RAM (((struct fdcan_ram_layout*)SRAMCAN_BASE)->fdcan1)
 #else