SW4STM32 and SW4Linux fully supports the STM32MP1 asymmetric multicore Cortex/A7+M4 MPUs

   With System Workbench for Linux, Embedded Linux on the STM32MP1 family of MPUs from ST was never as simple to build and maintain, even for newcomers in the Linux world. And, if you install System Workbench for Linux in System Workbench for STM32 you can seamlessly develop and debug asymmetric applications running partly on Linux, partly on the Cortex-M4.
You can get more information from the ac6-tools website and download (registration required) various documents highlighting:

System Workbench for STM32

Help with FDCAN configuration and interruptions

Yes, I did fix it.

It was a problem with the interruption of receiving messages and the priority set to the interruption. I can recall it was interfering with the real-time tasks priorities because every time I regenerated the code through MXCube it regenerated the interrupt vector and changing the priorities to something lower than the tasks and firing the error flag.

My solution was to comment out/delete the lines that set the priority of the interruption on the autogenerated code and just have that in my code, so that the priorities are set correctly.

You can now see the solution in my github (link is the same) and how that autogenerated code is also set in the object of the FDCAN library.