diff --git a/src/stm32/Kconfig b/src/stm32/Kconfig
index 1561aa6b..60a30365 100644
--- a/src/stm32/Kconfig
+++ b/src/stm32/Kconfig
@@ -473,7 +473,7 @@ 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) || HAVE_STM32_FDCANBUS
diff --git a/src/stm32/fdcan.c b/src/stm32/fdcan.c
index 9198c7dc..a1624f8c 100644
--- a/src/stm32/fdcan.c
+++ b/src/stm32/fdcan.c
@@ -46,6 +46,10 @@
  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)
@@ -53,7 +57,7 @@
 #endif
 
 #if !(CONFIG_STM32_CANBUS_PB0_PB1 || CONFIG_STM32_CANBUS_PC2_PC3 \
-     || CONFIG_STM32_CANBUS_PB12_PB13)
+     || 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