diff --git a/components/hal/include/hal/twai_types.h b/components/hal/include/hal/twai_types.h
index 7f3789fe2b..1fd9115d88 100644
--- a/components/hal/include/hal/twai_types.h
+++ b/components/hal/include/hal/twai_types.h
@@ -64,26 +64,24 @@ extern "C" {
 #define TWAI_TIMING_CONFIG_20KBITS()    {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 400000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
 #endif // (SOC_TWAI_BRP_MAX > 128) || (CONFIG_ESP32_REV_MIN_FULL >= 200)
 
-#if CONFIG_XTAL_FREQ == 32   // TWAI_CLK_SRC_XTAL = 32M
-#define TWAI_TIMING_CONFIG_25KBITS()    {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 400000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
-#define TWAI_TIMING_CONFIG_50KBITS()    {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 1000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
-#define TWAI_TIMING_CONFIG_100KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 2000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
-#define TWAI_TIMING_CONFIG_125KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 4000000, .brp = 0, .tseg_1 = 23, .tseg_2 = 8, .sjw = 3, .triple_sampling = false}
-#define TWAI_TIMING_CONFIG_250KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 4000000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
-#define TWAI_TIMING_CONFIG_500KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 8000000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
-#define TWAI_TIMING_CONFIG_800KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 16000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
-#define TWAI_TIMING_CONFIG_1MBITS()     {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 16000000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
-
-#elif CONFIG_XTAL_FREQ == 40   // TWAI_CLK_SRC_XTAL = 40M
+#if SOC_TWAI_CLK_SUPPORT_XTAL
+#define TWAI_TIMING_CONFIG_25KBITS()    {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 500000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
+#else   // APB80M
 #define TWAI_TIMING_CONFIG_25KBITS()    {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 625000, .brp = 0, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false}
+#endif
 #define TWAI_TIMING_CONFIG_50KBITS()    {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 1000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
 #define TWAI_TIMING_CONFIG_100KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 2000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
-#define TWAI_TIMING_CONFIG_125KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 2500000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
-#define TWAI_TIMING_CONFIG_250KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 5000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
+#define TWAI_TIMING_CONFIG_125KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 2000000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
+#define TWAI_TIMING_CONFIG_250KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 4000000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 2, .triple_sampling = false}
+#if SOC_TWAI_CLK_SUPPORT_XTAL && CONFIG_XTAL_FREQ == 40   // TWAI_CLK_SRC_XTAL = 40M
 #define TWAI_TIMING_CONFIG_500KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 10000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
 #define TWAI_TIMING_CONFIG_800KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 20000000, .brp = 0, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false}
 #define TWAI_TIMING_CONFIG_1MBITS()     {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 20000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
-#endif  //CONFIG_XTAL_FREQ
+#else   // 32M, 48M, APB80M
+#define TWAI_TIMING_CONFIG_500KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 8000000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 2, .triple_sampling = false}
+#define TWAI_TIMING_CONFIG_800KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 8000000, .brp = 0, .tseg_1 = 6, .tseg_2 = 3, .sjw = 1, .triple_sampling = false}
+#define TWAI_TIMING_CONFIG_1MBITS()     {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 8000000, .brp = 0, .tseg_1 = 5, .tseg_2 = 2, .sjw = 1, .triple_sampling = false}
+#endif
 
 /**
  * @brief   Initializer macro for filter configuration to accept all IDs