UAVCAN - communication

Hi, I am new to px4 software stack. I am working on a project where a part of it involves the work of sending data from my baseboard to pixhawk 4 through CAN. I got a few questions. It would be great if someone could help me out.

  1. Does pixhawk4 has CAN FD?
  2. I am writing code in c++. Is there any blog where I can understand the concepts of this? I tried reading few documentations of UAVCAN but got really confused when I looked into the code. It would be very helpful if someone could point me in the right direction.

Thank you.