diff --git a/components/esp_driver_twai/esp_twai.c b/components/esp_driver_twai/esp_twai.c
index 874f42e7ce..f680a2ddcb 100644
--- a/components/esp_driver_twai/esp_twai.c
+++ b/components/esp_driver_twai/esp_twai.c
@@ -43,12 +43,11 @@ uint32_t twai_node_timing_calc_param(const uint32_t source_freq, const twai_timi
 
     uint16_t default_point = (in_param->bitrate >= 800000) ? 750 : ((in_param->bitrate >= 500000) ? 800 : 875);
     uint16_t sample_point = in_param->sp_permill ? in_param->sp_permill : default_point;  // default sample point based on bitrate if not configured
-    uint16_t tseg_1 = (tseg * sample_point) / 1000;
+    uint16_t tseg_1 = (tseg * sample_point) / 1000 - 1;
     tseg_1 = MAX(hw_limit->tseg1_min, MIN(tseg_1, hw_limit->tseg1_max));
     uint16_t tseg_2 = tseg - tseg_1 - 1;
     tseg_2 = MAX(hw_limit->tseg2_min, MIN(tseg_2, hw_limit->tseg2_max));
-    tseg_1 = tseg - tseg_2 - 1;
-    uint16_t prop = tseg_1 / 2;     // distribute tseg1 evenly between prop_seg and tseg_1
+    uint16_t prop = MAX(1, tseg_1 / 4); // prop_seg is usually shorter than tseg_1 and at least 1
     tseg_1 -= prop;
 
     out_param->quanta_resolution_hz = 0;    // going to deprecated IDF-12725
diff --git a/components/esp_driver_twai/esp_twai_onchip.c b/components/esp_driver_twai/esp_twai_onchip.c
index 6ae09e296b..f83b76dc31 100644
--- a/components/esp_driver_twai/esp_twai_onchip.c
+++ b/components/esp_driver_twai/esp_twai_onchip.c
@@ -444,7 +444,7 @@ static esp_err_t _node_calc_set_bit_timing(twai_node_handle_t node, twai_clock_s
         .sjw_max = TWAI_LL_SJW_MAX,
     };
     uint32_t real_baud = twai_node_timing_calc_param(source_freq, timing, &hw_const, &timing_adv);
-    ESP_LOGD(TAG, "norm src %ld, param %ld %d %d %d %d %d", source_freq, timing_adv.brp, timing_adv.prop_seg, timing_adv.tseg_1, timing_adv.tseg_2, timing_adv.sjw, timing_adv.ssp_offset);
+    ESP_LOGD(TAG, "timing: src %ld brp %ld prop %d seg1 %d seg2 %d sjw %d ssp %d", source_freq, timing_adv.brp, timing_adv.prop_seg, timing_adv.tseg_1, timing_adv.tseg_2, timing_adv.sjw, timing_adv.ssp_offset);
     ESP_RETURN_ON_FALSE(real_baud, ESP_ERR_INVALID_ARG, TAG, "bitrate can't achieve!");
     if (timing->bitrate != real_baud) {
         ESP_LOGW(TAG, "bitrate precision loss, adjust from %ld to %ld", timing->bitrate, real_baud);
@@ -453,7 +453,7 @@ static esp_err_t _node_calc_set_bit_timing(twai_node_handle_t node, twai_clock_s
     twai_timing_advanced_config_t timing_adv_fd = { .clk_src = root_clock_src, };
     if (timing_fd->bitrate) {
         real_baud = twai_node_timing_calc_param(source_freq, timing_fd, &hw_const, &timing_adv_fd);
-        ESP_LOGD(TAG, "fd src %ld, param %ld %d %d %d %d %d", source_freq, timing_adv_fd.brp, timing_adv_fd.prop_seg, timing_adv_fd.tseg_1, timing_adv_fd.tseg_2, timing_adv_fd.sjw, timing_adv_fd.ssp_offset);
+        ESP_LOGD(TAG, "timing_fd: src %ld brp %ld prop %d seg1 %d seg2 %d sjw %d ssp %d", source_freq, timing_adv_fd.brp, timing_adv_fd.prop_seg, timing_adv_fd.tseg_1, timing_adv_fd.tseg_2, timing_adv_fd.sjw, timing_adv_fd.ssp_offset);
         ESP_RETURN_ON_FALSE(real_baud, ESP_ERR_INVALID_ARG, TAG, "bitrate can't achieve!");
         if (timing_fd->bitrate != real_baud) {
             ESP_LOGW(TAG, "bitrate precision loss, adjust from %ld to %ld", timing_fd->bitrate, real_baud);
diff --git a/components/esp_driver_twai/include/esp_twai_onchip.h b/components/esp_driver_twai/include/esp_twai_onchip.h
index 68eb59ce91..e390d3abd6 100644
--- a/components/esp_driver_twai/include/esp_twai_onchip.h
+++ b/components/esp_driver_twai/include/esp_twai_onchip.h
@@ -57,14 +57,14 @@ esp_err_t twai_new_node_onchip(const twai_onchip_node_config_t *node_config, twa
  * @brief Helper function to configure a dual 16-bit acceptance filter.
  * @note  For 29bits Extended IDs, ONLY high 16bits id/mask is used for each filter.
  *
- * @param id1     First ID to filter.
+ * @param id1     First full 11/29 bits ID to filter.
  * @param mask1   Mask for first ID.
- * @param id2     Second ID to filter.
+ * @param id2     Second full 11/29 bits ID to filter.
  * @param mask2   Mask for second ID.
  * @param is_ext  True if using Extended (29-bit) IDs, false for Standard (11-bit) IDs.
  * @return twai_mask_filter_config_t   A filled filter configuration structure for dual filtering.
  */
-static inline twai_mask_filter_config_t twai_make_dual_filter(uint16_t id1, uint16_t mask1, uint16_t id2, uint16_t mask2, bool is_ext)
+static inline twai_mask_filter_config_t twai_make_dual_filter(uint32_t id1, uint32_t mask1, uint32_t id2, uint32_t mask2, bool is_ext)
 {
     /**
      * Dual filter is a special mode in hardware,
@@ -90,6 +90,10 @@ static inline twai_mask_filter_config_t twai_make_dual_filter(uint16_t id1, uint
         .no_fd = false,
         .dual_filter = true,
     };
+    if ((id1 & mask1 & id2 & mask2) == 0xffffffff) {
+        dual_cfg.id = 0xffffffff;   // recover the 'disable' code
+        dual_cfg.mask = 0xffffffff;
+    }
     return dual_cfg;
 }
 
diff --git a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
index 242261196e..2d629cccf0 100644
--- a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
+++ b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
@@ -246,7 +246,7 @@ static void test_random_trans_generator(twai_node_handle_t node_hdl, uint32_t tr
 
     printf("Sending %ld random trans ...\n", trans_num);
     for (uint32_t tx_cnt = 0; tx_cnt < trans_num; tx_cnt++) {
-        tx_msg.header.id = tx_cnt | 0xf000;
+        tx_msg.header.id = tx_cnt | 0xf000 | (tx_cnt << 16);
         tx_msg.header.ide = !!(tx_cnt % 2);
         tx_msg.header.rtr = !!(tx_cnt % 3);
         tx_msg.buffer_len = tx_cnt % TWAI_FRAME_MAX_LEN;
@@ -350,13 +350,17 @@ static IRAM_ATTR bool test_dual_filter_rx_done_cb(twai_node_handle_t handle, con
     rx_frame.buffer_len = TWAI_FRAME_MAX_LEN;
 
     if (ESP_OK == twai_node_receive_from_isr(handle, &rx_frame)) {
-        ESP_EARLY_LOGI("Recv", "RX id 0x%4x len %2d ext %d rmt %d", rx_frame.header.id, twaifd_dlc2len(rx_frame.header.dlc), rx_frame.header.ide, rx_frame.header.rtr);
+        ESP_EARLY_LOGI("Recv", "id 0x%8x len %2d ext %d rmt %d", rx_frame.header.id, twaifd_dlc2len(rx_frame.header.dlc), rx_frame.header.ide, rx_frame.header.rtr);
         switch (test_ctrl[0]) {
-        case 0:         // receive something
+        case 0:         // receive std id
             TEST_ASSERT(!rx_frame.header.ide);
             TEST_ASSERT((rx_frame.header.id >= 0x10) && (rx_frame.header.id <= 0x2f));
             break;
         case 1: break;  // receive none
+        case 2:         // receive ext id
+            TEST_ASSERT(rx_frame.header.ide);
+            TEST_ASSERT((rx_frame.header.id >= 0x280000) || (rx_frame.header.id <= 0xfffff));
+            break;
         default: TEST_ASSERT(false);
         }
         test_ctrl[1] ++;
@@ -384,7 +388,7 @@ TEST_CASE("twai dual 16bit mask filter (loopback)", "[twai]")
     user_cbs.on_rx_done = test_dual_filter_rx_done_cb;
     TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl, &user_cbs, test_ctrl));
 
-    printf("Testing dual filter: id1 0x%x mask1 0x%x, id2 0x%x mask2 0x%x\n", 0x020, 0x7f0, 0x013, 0x7f8);
+    printf("Testing dual filter: std id1 0x%x mask1 0x%x, id2 0x%x mask2 0x%x\n", 0x020, 0x7f0, 0x013, 0x7f8);
     test_ctrl[0] = 0;
     test_ctrl[1] = 0;
     // filter 1 receive only std id 0x02x
@@ -395,17 +399,31 @@ TEST_CASE("twai dual 16bit mask filter (loopback)", "[twai]")
     test_random_trans_generator(node_hdl, 50);
     TEST_ASSERT_EQUAL(12, test_ctrl[1]);    // must receive 12 of 50 frames under filter config
 
-    printf("Disable filter\n");
+    dual_config = twai_make_dual_filter(0xffffffff, 0xffffffff, 0xffffffff, 0xffffffff, false);
+    printf("Testing disable filter by dual_maker, result: id %lx mask %lx\n", dual_config.id, dual_config.mask);
+    TEST_ASSERT_EQUAL(0xffffffff, dual_config.id & dual_config.mask);
+
+    printf("Testing disable filter\n");
     test_ctrl[0] = 1;
     test_ctrl[1] = 0;
-    dual_config.id = 0xFFFFFFFF;
-    dual_config.mask = 0xFFFFFFFF;
     TEST_ESP_OK(twai_node_disable(node_hdl));
     TEST_ESP_OK(twai_node_config_mask_filter(node_hdl, 0, &dual_config));
     TEST_ESP_OK(twai_node_enable(node_hdl));
     test_random_trans_generator(node_hdl, 40);
     TEST_ASSERT_EQUAL(0, test_ctrl[1]);
 
+    printf("Testing dual filter: ext id1 0x%x mask1 0x%x, id2 0x%x mask2 0x%x\n", 0x0280000, 0x1ff80000, 0x0000000, 0x1ff00000);
+    test_ctrl[0] = 2;
+    test_ctrl[1] = 0;
+    // filter 1 receive only ext id 0x028xxxxx~0x02fxxxxx
+    // filter 2 receive only ext id 0x000xxxxx
+    dual_config = twai_make_dual_filter(0x0280000, 0x1ff80000, 0x0000000, 0x1ff00000, true);
+    TEST_ESP_OK(twai_node_disable(node_hdl));
+    TEST_ESP_OK(twai_node_config_mask_filter(node_hdl, 0, &dual_config));
+    TEST_ESP_OK(twai_node_enable(node_hdl));
+    test_random_trans_generator(node_hdl, 50);
+    TEST_ASSERT_EQUAL(12, test_ctrl[1]);    // must receive 12 of 50 frames
+
     TEST_ESP_OK(twai_node_disable(node_hdl));
     TEST_ESP_OK(twai_node_delete(node_hdl));
 }