There are books and detailed documentation from Bosch on the subject of CAN FD aka FD-CAN, references can be found in the Wikipedia article, for example.
Details on the implementation of the FD-CAN peripherals and how to use them can be found in the training documents for the STM32G4, STM32H7 and STM32L5, others will follow. Just search there for FD and click on one of the icons to the right:
- either the blue icon - the video presentation with text notes or
- the the red icon with the same presentation in PDF
Good luck!
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/Peter
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