diff --git a/components/driver/twai/linker.lf b/components/driver/twai/linker.lf
index d629737264..4d48d08f3d 100644
--- a/components/driver/twai/linker.lf
+++ b/components/driver/twai/linker.lf
@@ -11,18 +11,18 @@ entries:
 archive: libhal.a
 entries:
     if TWAI_ISR_IN_IRAM = y:
-        twai_hal_sja1000: twai_hal_decode_interrupt (noflash)
-        twai_hal_sja1000: twai_hal_get_events (noflash)
-        twai_hal_sja1000: twai_hal_format_frame (noflash)
-        twai_hal_sja1000: twai_hal_parse_frame (noflash)
-        twai_hal_sja1000: twai_hal_set_tx_buffer_and_transmit (noflash)
-        twai_hal_sja1000: twai_hal_get_rx_msg_count (noflash)
-        twai_hal_sja1000: twai_hal_read_rx_fifo (noflash)
-        twai_hal_sja1000: twai_hal_check_state_flags (noflash)
+        twai_hal_v1: twai_hal_decode_interrupt (noflash)
+        twai_hal_v1: twai_hal_get_events (noflash)
+        twai_hal_v1: twai_hal_format_frame (noflash)
+        twai_hal_v1: twai_hal_parse_frame (noflash)
+        twai_hal_v1: twai_hal_set_tx_buffer_and_transmit (noflash)
+        twai_hal_v1: twai_hal_get_rx_msg_count (noflash)
+        twai_hal_v1: twai_hal_read_rx_fifo (noflash)
+        twai_hal_v1: twai_hal_check_state_flags (noflash)
 
         if TWAI_ERRATA_FIX_RX_FRAME_INVALID = y || TWAI_ERRATA_FIX_RX_FIFO_CORRUPT = y:
-            twai_hal_sja1000: twai_hal_prepare_for_reset (noflash)
-            twai_hal_sja1000: twai_hal_recover_from_reset (noflash)
-            twai_hal_sja1000: twai_hal_backup_config (noflash)
-            twai_hal_sja1000: twai_hal_restore_config (noflash)
-            twai_hal_sja1000: twai_hal_get_reset_lost_rx_cnt (noflash)
+            twai_hal_v1: twai_hal_prepare_for_reset (noflash)
+            twai_hal_v1: twai_hal_recover_from_reset (noflash)
+            twai_hal_v1: twai_hal_backup_config (noflash)
+            twai_hal_v1: twai_hal_restore_config (noflash)
+            twai_hal_v1: twai_hal_get_reset_lost_rx_cnt (noflash)
diff --git a/components/esp_driver_twai/linker.lf b/components/esp_driver_twai/linker.lf
index 30c1d48b0f..813335e170 100644
--- a/components/esp_driver_twai/linker.lf
+++ b/components/esp_driver_twai/linker.lf
@@ -16,25 +16,25 @@ archive: libhal.a
 entries:
     if TWAI_ISR_IN_IRAM = y:
         if SOC_TWAI_SUPPORT_FD = y:
-            twai_hal_ctufd: twai_hal_format_frame (noflash)
-            twai_hal_ctufd: twai_hal_parse_frame (noflash)
-            twai_hal_ctufd: twai_hal_set_tx_buffer_and_transmit (noflash)
-            twai_hal_ctufd: twai_hal_get_rx_msg_count (noflash)
-            twai_hal_ctufd: twai_hal_read_rx_fifo (noflash)
-            twai_hal_ctufd: twai_hal_get_events (noflash)
+            twai_hal_v2: twai_hal_format_frame (noflash)
+            twai_hal_v2: twai_hal_parse_frame (noflash)
+            twai_hal_v2: twai_hal_set_tx_buffer_and_transmit (noflash)
+            twai_hal_v2: twai_hal_get_rx_msg_count (noflash)
+            twai_hal_v2: twai_hal_read_rx_fifo (noflash)
+            twai_hal_v2: twai_hal_get_events (noflash)
         else:
-            twai_hal_sja1000: twai_hal_format_frame (noflash)
-            twai_hal_sja1000: twai_hal_parse_frame (noflash)
-            twai_hal_sja1000: twai_hal_set_tx_buffer_and_transmit (noflash)
-            twai_hal_sja1000: twai_hal_get_rx_msg_count (noflash)
-            twai_hal_sja1000: twai_hal_read_rx_fifo (noflash)
-            twai_hal_sja1000: twai_hal_get_events (noflash)
-            twai_hal_sja1000: twai_hal_decode_interrupt (noflash)
-            twai_hal_sja1000: twai_hal_soft_filter_check_msg (noflash)
+            twai_hal_v1: twai_hal_format_frame (noflash)
+            twai_hal_v1: twai_hal_parse_frame (noflash)
+            twai_hal_v1: twai_hal_set_tx_buffer_and_transmit (noflash)
+            twai_hal_v1: twai_hal_get_rx_msg_count (noflash)
+            twai_hal_v1: twai_hal_read_rx_fifo (noflash)
+            twai_hal_v1: twai_hal_get_events (noflash)
+            twai_hal_v1: twai_hal_decode_interrupt (noflash)
+            twai_hal_v1: twai_hal_soft_filter_check_msg (noflash)
 
             if IDF_TARGET_ESP32 = y:
-                twai_hal_sja1000: twai_hal_prepare_for_reset (noflash)
-                twai_hal_sja1000: twai_hal_recover_from_reset (noflash)
-                twai_hal_sja1000: twai_hal_backup_config (noflash)
-                twai_hal_sja1000: twai_hal_restore_config (noflash)
-                twai_hal_sja1000: twai_hal_clear_rx_fifo_overrun (noflash)
+                twai_hal_v1: twai_hal_prepare_for_reset (noflash)
+                twai_hal_v1: twai_hal_recover_from_reset (noflash)
+                twai_hal_v1: twai_hal_backup_config (noflash)
+                twai_hal_v1: twai_hal_restore_config (noflash)
+                twai_hal_v1: twai_hal_clear_rx_fifo_overrun (noflash)
diff --git a/components/hal/CMakeLists.txt b/components/hal/CMakeLists.txt
index 9c2e267f7d..5f51447e69 100644
--- a/components/hal/CMakeLists.txt
+++ b/components/hal/CMakeLists.txt
@@ -132,9 +132,9 @@ elseif(NOT BOOTLOADER_BUILD)
 
     if(CONFIG_SOC_TWAI_SUPPORTED)
         if(CONFIG_SOC_TWAI_SUPPORT_FD)
-            list(APPEND srcs "twai_hal_ctufd.c")
+            list(APPEND srcs "twai_hal_v2.c")
         else()
-            list(APPEND srcs "twai_hal_sja1000.c")
+            list(APPEND srcs "twai_hal_v1.c")
         endif()
     endif()
 
diff --git a/components/hal/twai_hal_sja1000.c b/components/hal/twai_hal_v1.c
similarity index 100%
rename from components/hal/twai_hal_sja1000.c
rename to components/hal/twai_hal_v1.c
diff --git a/components/hal/twai_hal_ctufd.c b/components/hal/twai_hal_v2.c
similarity index 100%
rename from components/hal/twai_hal_ctufd.c
rename to components/hal/twai_hal_v2.c
diff --git a/components/soc/esp32c5/register/soc/twaifd_reg.h b/components/soc/esp32c5/register/soc/twaifd_reg.h
index bf9f45f249..d53ac153be 100644
--- a/components/soc/esp32c5/register/soc/twaifd_reg.h
+++ b/components/soc/esp32c5/register/soc/twaifd_reg.h
@@ -42,7 +42,7 @@ extern "C" {
  */
 #define TWAIFD_MODE_SETTINGS_REG(i) (REG_TWAI_BASE(i) + 0x4)
 /** TWAIFD_RST : WO; bitpos: [0]; default: 0;
- *  Soft reset. Writing logic 1 resets CTU CAN FD. After writing logic 1, logic 0 does
+ *  Soft reset. Writing logic 1 resets CAN FD. After writing logic 1, logic 0 does
  *  not need to be written, this bit
  *  is automatically cleared.
  *  0: invalid
@@ -53,11 +53,11 @@ extern "C" {
 #define TWAIFD_RST_V  0x00000001U
 #define TWAIFD_RST_S  0
 /** TWAIFD_BMM : R/W; bitpos: [1]; default: 0;
- *  Bus monitoring mode. In this mode CTU CAN FD only receives frames and sends only
+ *  Bus monitoring mode. In this mode CAN FD only receives frames and sends only
  *  recessive bits on CAN
  *  bus. When a dominant bit is sent, it is re-routed internally so that bus value is
  *  not changed. When this mode is
- *  enabled, CTU CAN FD will not transmit any frame from TXT Buffers,
+ *  enabled, CAN FD will not transmit any frame from TXT Buffers,
  *  0b0 - BMM_DISABLED - Bus monitoring mode disabled.
  *  0b1 - BMM_ENABLED - Bus monitoring mode enabled.
  */
@@ -89,7 +89,7 @@ extern "C" {
 #define TWAIFD_AFM_V  0x00000001U
 #define TWAIFD_AFM_S  3
 /** TWAIFD_FDE : R/W; bitpos: [4]; default: 1;
- *  Flexible data rate enable. When flexible data rate is enabled CTU CAN FD recognizes
+ *  Flexible data rate enable. When flexible data rate is enabled CAN FD recognizes
  *  CAN FD frames (FDF bit
  *  = 1).
  *  0b0 - FDE_DISABLE - Flexible data-rate support disabled.
@@ -157,16 +157,16 @@ extern "C" {
 #define TWAIFD_TXBBM_S  10
 /** TWAIFD_SAM : R/W; bitpos: [11]; default: 0;
  *  Self-acknowledge mode.\\
- *  0b0 - SAM_DISABLE - Do not send dominant ACK bit when CTU CAN FD sends Acknowledge
+ *  0b0 - SAM_DISABLE - Do not send dominant ACK bit when CAN FD sends Acknowledge
  *  bit.\\
- *  0b1 - SAM_ENABLE - Send dominant ACK bit when CTU CAN FD transmits CAN frame.\\
+ *  0b1 - SAM_ENABLE - Send dominant ACK bit when CAN FD transmits CAN frame.\\
  */
 #define TWAIFD_SAM    (BIT(11))
 #define TWAIFD_SAM_M  (TWAIFD_SAM_V << TWAIFD_SAM_S)
 #define TWAIFD_SAM_V  0x00000001U
 #define TWAIFD_SAM_S  11
 /** TWAIFD_RTRLE : R/W; bitpos: [16]; default: 0;
- *  Retransmitt Limit Enable. If enabled, CTU CAN FD only attempts to retransmitt each
+ *  Retransmitt Limit Enable. If enabled, CAN FD only attempts to retransmitt each
  *  frame up to RTR_TH
  *  times.
  *  0b0 - RTRLE_DISABLED - Retransmitt limit is disabled.
@@ -186,7 +186,7 @@ extern "C" {
 #define TWAIFD_RTRTH_V  0x0000000FU
 #define TWAIFD_RTRTH_S  17
 /** TWAIFD_ILBP : R/W; bitpos: [21]; default: 0;
- *  Internal Loop Back mode. When enabled, CTU CAN FD receives any frame it transmits.
+ *  Internal Loop Back mode. When enabled, CAN FD receives any frame it transmits.
  *  0b0 - INT_LOOP_DISABLED - Internal loop-back is disabled.
  *  0b1 - INT_LOOP_ENABLED - Internal loop-back is enabled.
  */
@@ -195,18 +195,18 @@ extern "C" {
 #define TWAIFD_ILBP_V  0x00000001U
 #define TWAIFD_ILBP_S  21
 /** TWAIFD_ENA : R/W; bitpos: [22]; default: 0;
- *  Main enable bit of CTU CAN FD. When enabled, CTU CAN FD communicates on CAN bus.
+ *  Main enable bit of CAN FD. When enabled, CAN FD communicates on CAN bus.
  *  When disabled, it
  *  is bus-off and does not take part of CAN bus communication.
- *  0b0 - CTU_CAN_DISABLED - The CAN Core is disabled.
- *  0b1 - CTU_CAN_ENABLED - The CAN Core is enabled.
+ *  0b0 - CAN_DISABLED - The CAN Core is disabled.
+ *  0b1 - CAN_ENABLED - The CAN Core is enabled.
  */
 #define TWAIFD_ENA    (BIT(22))
 #define TWAIFD_ENA_M  (TWAIFD_ENA_V << TWAIFD_ENA_S)
 #define TWAIFD_ENA_V  0x00000001U
 #define TWAIFD_ENA_S  22
 /** TWAIFD_NISOFD : R/W; bitpos: [23]; default: 0;
- *  Non ISO FD. When this bit is set, CTU CAN FD is compliant to NON-ISO CAN FD
+ *  Non ISO FD. When this bit is set, CAN FD is compliant to NON-ISO CAN FD
  *  specification (no stuff
  *  count field). This bit should be modified only when SETTINGS[ENA]=0.
  *  0b0 - ISO_FD - The CAN Controller conforms to ISO CAN FD specification.
@@ -218,7 +218,7 @@ extern "C" {
 #define TWAIFD_NISOFD_V  0x00000001U
 #define TWAIFD_NISOFD_S  23
 /** TWAIFD_PEX : R/W; bitpos: [24]; default: 0;
- *  Protocol exception handling. When this bit is set, CTU CAN FD will start
+ *  Protocol exception handling. When this bit is set, CAN FD will start
  *  integration upon detection of protocol
  *  exception. This should be modified only when SETTINGS[ENA] = ’0’.
  *  0b0 - PROTOCOL_EXCEPTION_DISABLED - Protocol exception handling is disabled.
@@ -229,11 +229,11 @@ extern "C" {
 #define TWAIFD_PEX_V  0x00000001U
 #define TWAIFD_PEX_S  24
 /** TWAIFD_TBFBO : R/W; bitpos: [25]; default: 1;
- *  All TXT buffers shall go to "TX failed" state when CTU CAN FD becomes bus-off.
+ *  All TXT buffers shall go to "TX failed" state when CAN FD becomes bus-off.
  *  0b0 - TXTBUF_FAILED_BUS_OFF_DISABLED - TXT Buffers dont go to "TX failed" state
- *  when CTU CAN
+ *  when CAN
  *  FD becomes bus-off.
- *  0b1 - TXTBUF_FAILED_BUS_OFF_ENABLED - TXT Buffers go to "TX failed" state when CTU
+ *  0b1 - TXTBUF_FAILED_BUS_OFF_ENABLED - TXT Buffers go to "TX failed" state when
  *  CAN FD
  *  becomes bus-off.
  */
@@ -301,7 +301,7 @@ extern "C" {
 #define TWAIFD_EFT_V  0x00000001U
 #define TWAIFD_EFT_S  3
 /** TWAIFD_RXS : RO; bitpos: [4]; default: 0;
- *  CTU CAN FD is receiver of CAN Frame.
+ *  CAN FD is receiver of CAN Frame.
  *  0: not receiving
  *  1: receiving
  */
@@ -310,7 +310,7 @@ extern "C" {
 #define TWAIFD_RXS_V  0x00000001U
 #define TWAIFD_RXS_S  4
 /** TWAIFD_TXS : RO; bitpos: [5]; default: 0;
- *  CTU CAN FD is transmitter of CAN Frame.
+ *  CAN FD is transmitter of CAN Frame.
  *  0: not transmitting
  *  1: transmitting
  */
@@ -329,7 +329,7 @@ extern "C" {
 #define TWAIFD_EWL_V  0x00000001U
 #define TWAIFD_EWL_S  6
 /** TWAIFD_IDLE : RO; bitpos: [7]; default: 1;
- *  Bus is idle (no frame is being transmitted/received) or CTU CAN FD is bus-off.
+ *  Bus is idle (no frame is being transmitted/received) or CAN FD is bus-off.
  *  0: active
  *  1: not active
  */
@@ -1556,11 +1556,11 @@ extern "C" {
 /** TWAIFD_TXTB0_STATE : RO; bitpos: [3:0]; default: 8;
  *  Status of TXT buffer 1.
  *  0b0000 - TXT_NOT_EXIST - TXT buffer does not exist in the core (applies only to TXT
- *  buffers 3-8, when CTU
+ *  buffers 3-8, when
  *  CAN FD was synthesized with less than 8 TXT buffers).
- *  0b0001 - TXT_RDY - TXT buffer is in "Ready" state, it is waiting for CTU CAN FD to
+ *  0b0001 - TXT_RDY - TXT buffer is in "Ready" state, it is waiting for CAN FD to
  *  start transmission from it.
- *  0b0010 - TXT_TRAN - TXT buffer is in "TX in progress" state. CTU CAN FD is
+ *  0b0010 - TXT_TRAN - TXT buffer is in "TX in progress" state. CAN FD is
  *  transmitting frame.
  *  0b0011 - TXT_ABTP - TXT buffer is in "Abort in progress" state.
  *  0b0100 - TXT_TOK - TXT buffer is in "TX OK" state.
@@ -1716,7 +1716,7 @@ extern "C" {
 #define TWAIFD_TXB8_V  0x00000001U
 #define TWAIFD_TXB8_S  15
 /** TWAIFD_TXT_BUFFER_COUNT : RO; bitpos: [19:16]; default: 4;
- *  Number of TXT buffers present in CTU CAN FD. Lowest buffer is always 1. Highest
+ *  Number of TXT buffers present in CAN FD. Lowest buffer is always 1. Highest
  *  buffer
  *  is at index equal to number of present buffers.
  */
@@ -1861,7 +1861,7 @@ extern "C" {
 #define TWAIFD_ALC_ID_FIELD_V  0x00000007U
 #define TWAIFD_ALC_ID_FIELD_S  21
 /** TWAIFD_TS_BITS : RO; bitpos: [29:24]; default: 0;
- *  Number of active bits of CTU CAN FD time-base minus 1 (0x3F = 64 bit time-base).
+ *  Number of active bits of CAN FD time-base minus 1 (0x3F = 64 bit time-base).
  */
 #define TWAIFD_TS_BITS    0x0000003FU
 #define TWAIFD_TS_BITS_M  (TWAIFD_TS_BITS_V << TWAIFD_TS_BITS_S)
@@ -1905,7 +1905,7 @@ extern "C" {
  */
 #define TWAIFD_RX_FR_CTR_REG(i) (REG_TWAI_BASE(i) + 0x84)
 /** TWAIFD_RX_FR_CTR_VAL : RO; bitpos: [31:0]; default: 0;
- *  Number of received frames by CTU CAN FD.
+ *  Number of received frames by CAN FD.
  */
 #define TWAIFD_RX_FR_CTR_VAL    0xFFFFFFFFU
 #define TWAIFD_RX_FR_CTR_VAL_M  (TWAIFD_RX_FR_CTR_VAL_V << TWAIFD_RX_FR_CTR_VAL_S)
@@ -1917,7 +1917,7 @@ extern "C" {
  */
 #define TWAIFD_TX_FR_CTR_REG(i) (REG_TWAI_BASE(i) + 0x88)
 /** TWAIFD_TX_CTR_VAL : RO; bitpos: [31:0]; default: 0;
- *  Number of transmitted frames by CTU CAN FD.
+ *  Number of transmitted frames by CAN FD.
  */
 #define TWAIFD_TX_CTR_VAL    0xFFFFFFFFU
 #define TWAIFD_TX_CTR_VAL_M  (TWAIFD_TX_CTR_VAL_V << TWAIFD_TX_CTR_VAL_S)
diff --git a/components/soc/esp32c5/register/soc/twaifd_struct.h b/components/soc/esp32c5/register/soc/twaifd_struct.h
index 9da0a7af19..b78a69b3ca 100644
--- a/components/soc/esp32c5/register/soc/twaifd_struct.h
+++ b/components/soc/esp32c5/register/soc/twaifd_struct.h
@@ -40,7 +40,7 @@ typedef union {
 typedef union {
     struct {
         /** rst : WO; bitpos: [0]; default: 0;
-         *  Soft reset. Writing logic 1 resets CTU CAN FD. After writing logic 1, logic 0 does
+         *  Soft reset. Writing logic 1 resets CAN FD. After writing logic 1, logic 0 does
          *  not need to be written, this bit
          *  is automatically cleared.
          *  0: invalid
@@ -48,11 +48,11 @@ typedef union {
          */
         uint32_t rst:1;
         /** bmm : R/W; bitpos: [1]; default: 0;
-         *  Bus monitoring mode. In this mode CTU CAN FD only receives frames and sends only
+         *  Bus monitoring mode. In this mode CAN FD only receives frames and sends only
          *  recessive bits on CAN
          *  bus. When a dominant bit is sent, it is re-routed internally so that bus value is
          *  not changed. When this mode is
-         *  enabled, CTU CAN FD will not transmit any frame from TXT Buffers,
+         *  enabled, CAN FD will not transmit any frame from TXT Buffers,
          *  0b0 - BMM_DISABLED - Bus monitoring mode disabled.
          *  0b1 - BMM_ENABLED - Bus monitoring mode enabled.
          */
@@ -75,7 +75,7 @@ typedef union {
          */
         uint32_t afm:1;
         /** fde : R/W; bitpos: [4]; default: 1;
-         *  Flexible data rate enable. When flexible data rate is enabled CTU CAN FD recognizes
+         *  Flexible data rate enable. When flexible data rate is enabled CAN FD recognizes
          *  CAN FD frames (FDF bit
          *  = 1).
          *  0b0 - FDE_DISABLE - Flexible data-rate support disabled.
@@ -122,7 +122,7 @@ typedef union {
         uint32_t txbbm:1;
         uint32_t reserved_11:5;
         /** rtrle : R/W; bitpos: [16]; default: 0;
-         *  Retransmitt Limit Enable. If enabled, CTU CAN FD only attempts to retransmitt each
+         *  Retransmitt Limit Enable. If enabled, CAN FD only attempts to retransmitt each
          *  frame up to RTR_TH
          *  times.
          *  0b0 - RTRLE_DISABLED - Retransmitt limit is disabled.
@@ -136,21 +136,21 @@ typedef union {
          */
         uint32_t rtrth:4;
         /** ilbp : R/W; bitpos: [21]; default: 0;
-         *  Internal Loop Back mode. When enabled, CTU CAN FD receives any frame it transmits.
+         *  Internal Loop Back mode. When enabled, CAN FD receives any frame it transmits.
          *  0b0 - INT_LOOP_DISABLED - Internal loop-back is disabled.
          *  0b1 - INT_LOOP_ENABLED - Internal loop-back is enabled.
          */
         uint32_t ilbp:1;
         /** ena : R/W; bitpos: [22]; default: 0;
-         *  Main enable bit of CTU CAN FD. When enabled, CTU CAN FD communicates on CAN bus.
+         *  Main enable bit of CAN FD. When enabled, CAN FD communicates on CAN bus.
          *  When disabled, it
          *  is bus-off and does not take part of CAN bus communication.
-         *  0b0 - CTU_CAN_DISABLED - The CAN Core is disabled.
-         *  0b1 - CTU_CAN_ENABLED - The CAN Core is enabled.
+         *  0b0 - CAN_DISABLED - The CAN Core is disabled.
+         *  0b1 - CAN_ENABLED - The CAN Core is enabled.
          */
         uint32_t ena:1;
         /** nisofd : R/W; bitpos: [23]; default: 0;
-         *  Non ISO FD. When this bit is set, CTU CAN FD is compliant to NON-ISO CAN FD
+         *  Non ISO FD. When this bit is set, CAN FD is compliant to NON-ISO CAN FD
          *  specification (no stuff
          *  count field). This bit should be modified only when SETTINGS[ENA]=0.
          *  0b0 - ISO_FD - The CAN Controller conforms to ISO CAN FD specification.
@@ -159,7 +159,7 @@ typedef union {
          */
         uint32_t nisofd:1;
         /** pex : R/W; bitpos: [24]; default: 0;
-         *  Protocol exception handling. When this bit is set, CTU CAN FD will start
+         *  Protocol exception handling. When this bit is set, CAN FD will start
          *  integration upon detection of protocol
          *  exception. This should be modified only when SETTINGS[ENA] = ’0’.
          *  0b0 - PROTOCOL_EXCEPTION_DISABLED - Protocol exception handling is disabled.
@@ -167,11 +167,11 @@ typedef union {
          */
         uint32_t pex:1;
         /** tbfbo : R/W; bitpos: [25]; default: 1;
-         *  All TXT buffers shall go to "TX failed" state when CTU CAN FD becomes bus-off.
+         *  All TXT buffers shall go to "TX failed" state when CAN FD becomes bus-off.
          *  0b0 - TXTBUF_FAILED_BUS_OFF_DISABLED - TXT Buffers dont go to "TX failed" state
-         *  when CTU CAN
+         *  when CAN
          *  FD becomes bus-off.
-         *  0b1 - TXTBUF_FAILED_BUS_OFF_ENABLED - TXT Buffers go to "TX failed" state when CTU
+         *  0b1 - TXTBUF_FAILED_BUS_OFF_ENABLED - TXT Buffers go to "TX failed" state when
          *  CAN FD
          *  becomes bus-off.
          */
@@ -638,13 +638,13 @@ typedef union {
          */
         uint32_t eft:1;
         /** rxs : RO; bitpos: [4]; default: 0;
-         *  CTU CAN FD is receiver of CAN Frame.
+         *  CAN FD is receiver of CAN Frame.
          *  0: not receiving
          *  1: receiving
          */
         uint32_t rxs:1;
         /** txs : RO; bitpos: [5]; default: 0;
-         *  CTU CAN FD is transmitter of CAN Frame.
+         *  CAN FD is transmitter of CAN Frame.
          *  0: not transmitting
          *  1: transmitting
          */
@@ -657,7 +657,7 @@ typedef union {
          */
         uint32_t ewl:1;
         /** idle : RO; bitpos: [7]; default: 1;
-         *  Bus is idle (no frame is being transmitted/received) or CTU CAN FD is bus-off.
+         *  Bus is idle (no frame is being transmitted/received) or CAN FD is bus-off.
          *  0: active
          *  1: not active
          */
@@ -796,11 +796,11 @@ typedef union {
         /** txtb0_state : RO; bitpos: [3:0]; default: 8;
          *  Status of TXT buffer 1.
          *  0b0000 - TXT_NOT_EXIST - TXT buffer does not exist in the core (applies only to TXT
-         *  buffers 3-8, when CTU
+         *  buffers 3-8, when
          *  CAN FD was synthesized with less than 8 TXT buffers).
-         *  0b0001 - TXT_RDY - TXT buffer is in "Ready" state, it is waiting for CTU CAN FD to
+         *  0b0001 - TXT_RDY - TXT buffer is in "Ready" state, it is waiting for CAN FD to
          *  start transmission from it.
-         *  0b0010 - TXT_TRAN - TXT buffer is in "TX in progress" state. CTU CAN FD is
+         *  0b0010 - TXT_TRAN - TXT buffer is in "TX in progress" state. CAN FD is
          *  transmitting frame.
          *  0b0011 - TXT_ABTP - TXT buffer is in "Abort in progress" state.
          *  0b0100 - TXT_TOK - TXT buffer is in "TX OK" state.
@@ -897,7 +897,7 @@ typedef union {
          */
         uint32_t alc_id_field:3;
         /** ts_bits : RO; bitpos: [29:24]; default: 0;
-         *  Number of active bits of CTU CAN FD time-base minus 1 (0x3F = 64 bit time-base).
+         *  Number of active bits of CAN FD time-base minus 1 (0x3F = 64 bit time-base).
          */
         uint32_t ts_bits:6;
         uint32_t reserved_30:2;
@@ -1536,7 +1536,7 @@ typedef union {
          */
         uint32_t txb8:1;
         /** txt_buffer_count : RO; bitpos: [19:16]; default: 4;
-         *  Number of TXT buffers present in CTU CAN FD. Lowest buffer is always 1. Highest
+         *  Number of TXT buffers present in CAN FD. Lowest buffer is always 1. Highest
          *  buffer
          *  is at index equal to number of present buffers.
          */
@@ -1609,7 +1609,7 @@ typedef union {
 typedef union {
     struct {
         /** rx_fr_ctr_val : RO; bitpos: [31:0]; default: 0;
-         *  Number of received frames by CTU CAN FD.
+         *  Number of received frames by CAN FD.
          */
         uint32_t rx_fr_ctr_val:32;
     };
@@ -1622,7 +1622,7 @@ typedef union {
 typedef union {
     struct {
         /** tx_ctr_val : RO; bitpos: [31:0]; default: 0;
-         *  Number of transmitted frames by CTU CAN FD.
+         *  Number of transmitted frames by CAN FD.
          */
         uint32_t tx_ctr_val:32;
     };
diff --git a/components/soc/esp32h4/register/soc/twaifd_reg.h b/components/soc/esp32h4/register/soc/twaifd_reg.h
index 78771d7ef2..39d276ef20 100644
--- a/components/soc/esp32h4/register/soc/twaifd_reg.h
+++ b/components/soc/esp32h4/register/soc/twaifd_reg.h
@@ -42,7 +42,7 @@ extern "C" {
  */
 #define TWAIFD_MODE_SETTINGS_REG (DR_REG_TWAIFD_BASE + 0x4)
 /** TWAIFD_RST : WO; bitpos: [0]; default: 0;
- *  Soft reset. Writing logic 1 resets CTU CAN FD. After writing logic 1, logic 0 does
+ *  Soft reset. Writing logic 1 resets CAN FD. After writing logic 1, logic 0 does
  *  not need to be written, this bit
  *  is automatically cleared.
  *  0: invalid
@@ -53,11 +53,11 @@ extern "C" {
 #define TWAIFD_RST_V  0x00000001U
 #define TWAIFD_RST_S  0
 /** TWAIFD_BMM : R/W; bitpos: [1]; default: 0;
- *  Bus monitoring mode. In this mode CTU CAN FD only receives frames and sends only
+ *  Bus monitoring mode. In this mode CAN FD only receives frames and sends only
  *  recessive bits on CAN
  *  bus. When a dominant bit is sent, it is re-routed internally so that bus value is
  *  not changed. When this mode is
- *  enabled, CTU CAN FD will not transmit any frame from TXT Buffers,
+ *  enabled, CAN FD will not transmit any frame from TXT Buffers,
  *  0b0 - BMM_DISABLED - Bus monitoring mode disabled.
  *  0b1 - BMM_ENABLED - Bus monitoring mode enabled.
  */
@@ -89,7 +89,7 @@ extern "C" {
 #define TWAIFD_AFM_V  0x00000001U
 #define TWAIFD_AFM_S  3
 /** TWAIFD_FDE : R/W; bitpos: [4]; default: 1;
- *  Flexible data rate enable. When flexible data rate is enabled CTU CAN FD recognizes
+ *  Flexible data rate enable. When flexible data rate is enabled CAN FD recognizes
  *  CAN FD frames (FDF bit
  *  = 1).
  *  0b0 - FDE_DISABLE - Flexible data-rate support disabled.
@@ -156,7 +156,7 @@ extern "C" {
 #define TWAIFD_TXBBM_V  0x00000001U
 #define TWAIFD_TXBBM_S  10
 /** TWAIFD_RTRLE : R/W; bitpos: [16]; default: 0;
- *  Retransmitt Limit Enable. If enabled, CTU CAN FD only attempts to retransmitt each
+ *  Retransmitt Limit Enable. If enabled, CAN FD only attempts to retransmitt each
  *  frame up to RTR_TH
  *  times.
  *  0b0 - RTRLE_DISABLED - Retransmitt limit is disabled.
@@ -176,7 +176,7 @@ extern "C" {
 #define TWAIFD_RTRTH_V  0x0000000FU
 #define TWAIFD_RTRTH_S  17
 /** TWAIFD_ILBP : R/W; bitpos: [21]; default: 0;
- *  Internal Loop Back mode. When enabled, CTU CAN FD receives any frame it transmits.
+ *  Internal Loop Back mode. When enabled, CAN FD receives any frame it transmits.
  *  0b0 - INT_LOOP_DISABLED - Internal loop-back is disabled.
  *  0b1 - INT_LOOP_ENABLED - Internal loop-back is enabled.
  */
@@ -185,18 +185,18 @@ extern "C" {
 #define TWAIFD_ILBP_V  0x00000001U
 #define TWAIFD_ILBP_S  21
 /** TWAIFD_ENA : R/W; bitpos: [22]; default: 0;
- *  Main enable bit of CTU CAN FD. When enabled, CTU CAN FD communicates on CAN bus.
+ *  Main enable bit of CAN FD. When enabled, CAN FD communicates on CAN bus.
  *  When disabled, it
  *  is bus-off and does not take part of CAN bus communication.
- *  0b0 - CTU_CAN_DISABLED - The CAN Core is disabled.
- *  0b1 - CTU_CAN_ENABLED - The CAN Core is enabled.
+ *  0b0 - CAN_DISABLED - The CAN Core is disabled.
+ *  0b1 - CAN_ENABLED - The CAN Core is enabled.
  */
 #define TWAIFD_ENA    (BIT(22))
 #define TWAIFD_ENA_M  (TWAIFD_ENA_V << TWAIFD_ENA_S)
 #define TWAIFD_ENA_V  0x00000001U
 #define TWAIFD_ENA_S  22
 /** TWAIFD_NISOFD : R/W; bitpos: [23]; default: 0;
- *  Non ISO FD. When this bit is set, CTU CAN FD is compliant to NON-ISO CAN FD
+ *  Non ISO FD. When this bit is set, CAN FD is compliant to NON-ISO CAN FD
  *  specification (no stuff
  *  count field). This bit should be modified only when SETTINGS[ENA]=0.
  *  0b0 - ISO_FD - The CAN Controller conforms to ISO CAN FD specification.
@@ -208,7 +208,7 @@ extern "C" {
 #define TWAIFD_NISOFD_V  0x00000001U
 #define TWAIFD_NISOFD_S  23
 /** TWAIFD_PEX : R/W; bitpos: [24]; default: 0;
- *  Protocol exception handling. When this bit is set, CTU CAN FD will start
+ *  Protocol exception handling. When this bit is set, CAN FD will start
  *  integration upon detection of protocol
  *  exception. This should be modified only when SETTINGS[ENA] = ’0’.
  *  0b0 - PROTOCOL_EXCEPTION_DISABLED - Protocol exception handling is disabled.
@@ -219,11 +219,11 @@ extern "C" {
 #define TWAIFD_PEX_V  0x00000001U
 #define TWAIFD_PEX_S  24
 /** TWAIFD_TBFBO : R/W; bitpos: [25]; default: 1;
- *  All TXT buffers shall go to "TX failed" state when CTU CAN FD becomes bus-off.
+ *  All TXT buffers shall go to "TX failed" state when CAN FD becomes bus-off.
  *  0b0 - TXTBUF_FAILED_BUS_OFF_DISABLED - TXT Buffers dont go to "TX failed" state
- *  when CTU CAN
+ *  when CAN
  *  FD becomes bus-off.
- *  0b1 - TXTBUF_FAILED_BUS_OFF_ENABLED - TXT Buffers go to "TX failed" state when CTU
+ *  0b1 - TXTBUF_FAILED_BUS_OFF_ENABLED - TXT Buffers go to "TX failed" state when
  *  CAN FD
  *  becomes bus-off.
  */
@@ -291,7 +291,7 @@ extern "C" {
 #define TWAIFD_EFT_V  0x00000001U
 #define TWAIFD_EFT_S  3
 /** TWAIFD_RXS : RO; bitpos: [4]; default: 0;
- *  CTU CAN FD is receiver of CAN Frame.
+ *  CAN FD is receiver of CAN Frame.
  *  0: not receiving
  *  1: receiving
  */
@@ -300,7 +300,7 @@ extern "C" {
 #define TWAIFD_RXS_V  0x00000001U
 #define TWAIFD_RXS_S  4
 /** TWAIFD_TXS : RO; bitpos: [5]; default: 0;
- *  CTU CAN FD is transmitter of CAN Frame.
+ *  CAN FD is transmitter of CAN Frame.
  *  0: not transmitting
  *  1: transmitting
  */
@@ -319,7 +319,7 @@ extern "C" {
 #define TWAIFD_EWL_V  0x00000001U
 #define TWAIFD_EWL_S  6
 /** TWAIFD_IDLE : RO; bitpos: [7]; default: 1;
- *  Bus is idle (no frame is being transmitted/received) or CTU CAN FD is bus-off.
+ *  Bus is idle (no frame is being transmitted/received) or CAN FD is bus-off.
  *  0: active
  *  1: not active
  */
@@ -1546,11 +1546,11 @@ extern "C" {
 /** TWAIFD_TXTB0_STATE : RO; bitpos: [3:0]; default: 8;
  *  Status of TXT buffer 1.
  *  0b0000 - TXT_NOT_EXIST - TXT buffer does not exist in the core (applies only to TXT
- *  buffers 3-8, when CTU
+ *  buffers 3-8, when
  *  CAN FD was synthesized with less than 8 TXT buffers).
- *  0b0001 - TXT_RDY - TXT buffer is in "Ready" state, it is waiting for CTU CAN FD to
+ *  0b0001 - TXT_RDY - TXT buffer is in "Ready" state, it is waiting for CAN FD to
  *  start transmission from it.
- *  0b0010 - TXT_TRAN - TXT buffer is in "TX in progress" state. CTU CAN FD is
+ *  0b0010 - TXT_TRAN - TXT buffer is in "TX in progress" state. CAN FD is
  *  transmitting frame.
  *  0b0011 - TXT_ABTP - TXT buffer is in "Abort in progress" state.
  *  0b0100 - TXT_TOK - TXT buffer is in "TX OK" state.
@@ -1706,7 +1706,7 @@ extern "C" {
 #define TWAIFD_TXB8_V  0x00000001U
 #define TWAIFD_TXB8_S  15
 /** TWAIFD_TXT_BUFFER_COUNT : RO; bitpos: [19:16]; default: 4;
- *  Number of TXT buffers present in CTU CAN FD. Lowest buffer is always 1. Highest
+ *  Number of TXT buffers present in CAN FD. Lowest buffer is always 1. Highest
  *  buffer
  *  is at index equal to number of present buffers.
  */
@@ -1851,7 +1851,7 @@ extern "C" {
 #define TWAIFD_ALC_ID_FIELD_V  0x00000007U
 #define TWAIFD_ALC_ID_FIELD_S  21
 /** TWAIFD_TS_BITS : RO; bitpos: [29:24]; default: 0;
- *  Number of active bits of CTU CAN FD time-base minus 1 (0x3F = 64 bit time-base).
+ *  Number of active bits of CAN FD time-base minus 1 (0x3F = 64 bit time-base).
  */
 #define TWAIFD_TS_BITS    0x0000003FU
 #define TWAIFD_TS_BITS_M  (TWAIFD_TS_BITS_V << TWAIFD_TS_BITS_S)
@@ -1895,7 +1895,7 @@ extern "C" {
  */
 #define TWAIFD_RX_FR_CTR_REG (DR_REG_TWAIFD_BASE + 0x84)
 /** TWAIFD_RX_FR_CTR_VAL : RO; bitpos: [31:0]; default: 0;
- *  Number of received frames by CTU CAN FD.
+ *  Number of received frames by CAN FD.
  */
 #define TWAIFD_RX_FR_CTR_VAL    0xFFFFFFFFU
 #define TWAIFD_RX_FR_CTR_VAL_M  (TWAIFD_RX_FR_CTR_VAL_V << TWAIFD_RX_FR_CTR_VAL_S)
@@ -1907,7 +1907,7 @@ extern "C" {
  */
 #define TWAIFD_TX_FR_CTR_REG (DR_REG_TWAIFD_BASE + 0x88)
 /** TWAIFD_TX_CTR_VAL : RO; bitpos: [31:0]; default: 0;
- *  Number of transmitted frames by CTU CAN FD.
+ *  Number of transmitted frames by CAN FD.
  */
 #define TWAIFD_TX_CTR_VAL    0xFFFFFFFFU
 #define TWAIFD_TX_CTR_VAL_M  (TWAIFD_TX_CTR_VAL_V << TWAIFD_TX_CTR_VAL_S)
diff --git a/components/soc/esp32h4/register/soc/twaifd_struct.h b/components/soc/esp32h4/register/soc/twaifd_struct.h
index dbdeb40c3a..eaedf075ea 100644
--- a/components/soc/esp32h4/register/soc/twaifd_struct.h
+++ b/components/soc/esp32h4/register/soc/twaifd_struct.h
@@ -40,7 +40,7 @@ typedef union {
 typedef union {
     struct {
         /** rst : WO; bitpos: [0]; default: 0;
-         *  Soft reset. Writing logic 1 resets CTU CAN FD. After writing logic 1, logic 0 does
+         *  Soft reset. Writing logic 1 resets CAN FD. After writing logic 1, logic 0 does
          *  not need to be written, this bit
          *  is automatically cleared.
          *  0: invalid
@@ -48,11 +48,11 @@ typedef union {
          */
         uint32_t rst:1;
         /** bmm : R/W; bitpos: [1]; default: 0;
-         *  Bus monitoring mode. In this mode CTU CAN FD only receives frames and sends only
+         *  Bus monitoring mode. In this mode CAN FD only receives frames and sends only
          *  recessive bits on CAN
          *  bus. When a dominant bit is sent, it is re-routed internally so that bus value is
          *  not changed. When this mode is
-         *  enabled, CTU CAN FD will not transmit any frame from TXT Buffers,
+         *  enabled, CAN FD will not transmit any frame from TXT Buffers,
          *  0b0 - BMM_DISABLED - Bus monitoring mode disabled.
          *  0b1 - BMM_ENABLED - Bus monitoring mode enabled.
          */
@@ -75,7 +75,7 @@ typedef union {
          */
         uint32_t afm:1;
         /** fde : R/W; bitpos: [4]; default: 1;
-         *  Flexible data rate enable. When flexible data rate is enabled CTU CAN FD recognizes
+         *  Flexible data rate enable. When flexible data rate is enabled CAN FD recognizes
          *  CAN FD frames (FDF bit
          *  = 1).
          *  0b0 - FDE_DISABLE - Flexible data-rate support disabled.
@@ -122,14 +122,14 @@ typedef union {
         uint32_t txbbm:1;
         /** sam : R/W; bitpos: [11]; default: 0;
          *  Self-acknowledge mode.
-         *  0b0 - SAM_DISABLE - Do not send dominant ACK bit when CTU CAN FD sends Acknowledge
+         *  0b0 - SAM_DISABLE - Do not send dominant ACK bit when CAN FD sends Acknowledge
          *  bit.
-         *  0b1 - SAM_ENABLE - Send dominant ACK bit when CTU CAN FD transmits CAN frame.
+         *  0b1 - SAM_ENABLE - Send dominant ACK bit when CAN FD transmits CAN frame.
          */
         uint32_t sam:1;
         uint32_t reserved_12:4;
         /** rtrle : R/W; bitpos: [16]; default: 0;
-         *  Retransmitt Limit Enable. If enabled, CTU CAN FD only attempts to retransmitt each
+         *  Retransmitt Limit Enable. If enabled, CAN FD only attempts to retransmitt each
          *  frame up to RTR_TH
          *  times.
          *  0b0 - RTRLE_DISABLED - Retransmitt limit is disabled.
@@ -143,21 +143,21 @@ typedef union {
          */
         uint32_t rtrth:4;
         /** ilbp : R/W; bitpos: [21]; default: 0;
-         *  Internal Loop Back mode. When enabled, CTU CAN FD receives any frame it transmits.
+         *  Internal Loop Back mode. When enabled, CAN FD receives any frame it transmits.
          *  0b0 - INT_LOOP_DISABLED - Internal loop-back is disabled.
          *  0b1 - INT_LOOP_ENABLED - Internal loop-back is enabled.
          */
         uint32_t ilbp:1;
         /** ena : R/W; bitpos: [22]; default: 0;
-         *  Main enable bit of CTU CAN FD. When enabled, CTU CAN FD communicates on CAN bus.
+         *  Main enable bit of CAN FD. When enabled, CAN FD communicates on CAN bus.
          *  When disabled, it
          *  is bus-off and does not take part of CAN bus communication.
-         *  0b0 - CTU_CAN_DISABLED - The CAN Core is disabled.
-         *  0b1 - CTU_CAN_ENABLED - The CAN Core is enabled.
+         *  0b0 - CAN_DISABLED - The CAN Core is disabled.
+         *  0b1 - CAN_ENABLED - The CAN Core is enabled.
          */
         uint32_t ena:1;
         /** nisofd : R/W; bitpos: [23]; default: 0;
-         *  Non ISO FD. When this bit is set, CTU CAN FD is compliant to NON-ISO CAN FD
+         *  Non ISO FD. When this bit is set, CAN FD is compliant to NON-ISO CAN FD
          *  specification (no stuff
          *  count field). This bit should be modified only when SETTINGS[ENA]=0.
          *  0b0 - ISO_FD - The CAN Controller conforms to ISO CAN FD specification.
@@ -166,7 +166,7 @@ typedef union {
          */
         uint32_t nisofd:1;
         /** pex : R/W; bitpos: [24]; default: 0;
-         *  Protocol exception handling. When this bit is set, CTU CAN FD will start
+         *  Protocol exception handling. When this bit is set, CAN FD will start
          *  integration upon detection of protocol
          *  exception. This should be modified only when SETTINGS[ENA] = ’0’.
          *  0b0 - PROTOCOL_EXCEPTION_DISABLED - Protocol exception handling is disabled.
@@ -174,11 +174,11 @@ typedef union {
          */
         uint32_t pex:1;
         /** tbfbo : R/W; bitpos: [25]; default: 1;
-         *  All TXT buffers shall go to "TX failed" state when CTU CAN FD becomes bus-off.
+         *  All TXT buffers shall go to "TX failed" state when CAN FD becomes bus-off.
          *  0b0 - TXTBUF_FAILED_BUS_OFF_DISABLED - TXT Buffers dont go to "TX failed" state
-         *  when CTU CAN
+         *  when CAN
          *  FD becomes bus-off.
-         *  0b1 - TXTBUF_FAILED_BUS_OFF_ENABLED - TXT Buffers go to "TX failed" state when CTU
+         *  0b1 - TXTBUF_FAILED_BUS_OFF_ENABLED - TXT Buffers go to "TX failed" state when
          *  CAN FD
          *  becomes bus-off.
          */
@@ -645,13 +645,13 @@ typedef union {
          */
         uint32_t eft:1;
         /** rxs : RO; bitpos: [4]; default: 0;
-         *  CTU CAN FD is receiver of CAN Frame.
+         *  CAN FD is receiver of CAN Frame.
          *  0: not receiving
          *  1: receiving
          */
         uint32_t rxs:1;
         /** txs : RO; bitpos: [5]; default: 0;
-         *  CTU CAN FD is transmitter of CAN Frame.
+         *  CAN FD is transmitter of CAN Frame.
          *  0: not transmitting
          *  1: transmitting
          */
@@ -664,7 +664,7 @@ typedef union {
          */
         uint32_t ewl:1;
         /** idle : RO; bitpos: [7]; default: 1;
-         *  Bus is idle (no frame is being transmitted/received) or CTU CAN FD is bus-off.
+         *  Bus is idle (no frame is being transmitted/received) or CAN FD is bus-off.
          *  0: active
          *  1: not active
          */
@@ -803,11 +803,11 @@ typedef union {
         /** txtb0_state : RO; bitpos: [3:0]; default: 8;
          *  Status of TXT buffer 1.
          *  0b0000 - TXT_NOT_EXIST - TXT buffer does not exist in the core (applies only to TXT
-         *  buffers 3-8, when CTU
+         *  buffers 3-8, when
          *  CAN FD was synthesized with less than 8 TXT buffers).
-         *  0b0001 - TXT_RDY - TXT buffer is in "Ready" state, it is waiting for CTU CAN FD to
+         *  0b0001 - TXT_RDY - TXT buffer is in "Ready" state, it is waiting for CAN FD to
          *  start transmission from it.
-         *  0b0010 - TXT_TRAN - TXT buffer is in "TX in progress" state. CTU CAN FD is
+         *  0b0010 - TXT_TRAN - TXT buffer is in "TX in progress" state. CAN FD is
          *  transmitting frame.
          *  0b0011 - TXT_ABTP - TXT buffer is in "Abort in progress" state.
          *  0b0100 - TXT_TOK - TXT buffer is in "TX OK" state.
@@ -904,7 +904,7 @@ typedef union {
          */
         uint32_t alc_id_field:3;
         /** ts_bits : RO; bitpos: [29:24]; default: 0;
-         *  Number of active bits of CTU CAN FD time-base minus 1 (0x3F = 64 bit time-base).
+         *  Number of active bits of CAN FD time-base minus 1 (0x3F = 64 bit time-base).
          */
         uint32_t ts_bits:6;
         uint32_t reserved_30:2;
@@ -1543,7 +1543,7 @@ typedef union {
          */
         uint32_t txb8:1;
         /** txt_buffer_count : RO; bitpos: [19:16]; default: 4;
-         *  Number of TXT buffers present in CTU CAN FD. Lowest buffer is always 1. Highest
+         *  Number of TXT buffers present in CAN FD. Lowest buffer is always 1. Highest
          *  buffer
          *  is at index equal to number of present buffers.
          */
@@ -1616,7 +1616,7 @@ typedef union {
 typedef union {
     struct {
         /** rx_fr_ctr_val : RO; bitpos: [31:0]; default: 0;
-         *  Number of received frames by CTU CAN FD.
+         *  Number of received frames by CAN FD.
          */
         uint32_t rx_fr_ctr_val:32;
     };
@@ -1629,7 +1629,7 @@ typedef union {
 typedef union {
     struct {
         /** tx_ctr_val : RO; bitpos: [31:0]; default: 0;
-         *  Number of transmitted frames by CTU CAN FD.
+         *  Number of transmitted frames by CAN FD.
          */
         uint32_t tx_ctr_val:32;
     };
diff --git a/docs/en/api-reference/peripherals/twai.rst b/docs/en/api-reference/peripherals/twai.rst
index a1f495c9a6..c98d489b94 100644
--- a/docs/en/api-reference/peripherals/twai.rst
+++ b/docs/en/api-reference/peripherals/twai.rst
@@ -16,7 +16,7 @@ TWAI is a highly reliable, multi-master, real-time, serial asynchronous communic
 
 .. only:: SOC_TWAI_SUPPORT_FD
 
-    The TWAI controllers on the {IDF_TARGET_NAME} also compatible with FD format frames defined in ISO 11898-1, and can transmit and receive both classic and FD format frames.
+    The TWAI controllers on the {IDF_TARGET_NAME} also compatible with FD format (a.k.a. CAN FD) frames defined in ISO 11898-1, and can transmit and receive both classic and FD format frames.
 
 .. only:: not SOC_TWAI_SUPPORT_FD
 
diff --git a/docs/zh_CN/api-reference/peripherals/twai.rst b/docs/zh_CN/api-reference/peripherals/twai.rst
index cd97af9f58..b46aa46c25 100644
--- a/docs/zh_CN/api-reference/peripherals/twai.rst
+++ b/docs/zh_CN/api-reference/peripherals/twai.rst
@@ -16,7 +16,7 @@ TWAI 是一种适用于汽车和工业应用的高可靠性的多主机实时串
 
 .. only:: SOC_TWAI_SUPPORT_FD
 
-    {IDF_TARGET_NAME} TWAI 控制器兼容 ISO11898-1 FD 格式帧，可以发送和接收经典格式和 FD 格式帧。
+    {IDF_TARGET_NAME} TWAI 控制器兼容 ISO11898-1 FD (a.k.a. CAN FD) 格式帧，可以发送和接收经典格式和 FD 格式帧。
 
 .. only:: not SOC_TWAI_SUPPORT_FD
 
diff --git a/tools/ci/sg_rules/no_kconfig_in_hal_component.yml b/tools/ci/sg_rules/no_kconfig_in_hal_component.yml
index efba7d0c99..19d8b20664 100644
--- a/tools/ci/sg_rules/no_kconfig_in_hal_component.yml
+++ b/tools/ci/sg_rules/no_kconfig_in_hal_component.yml
@@ -13,7 +13,7 @@ ignores:
   - "components/hal/test_apps/**/*"
   - "components/esp_hal*/test_apps/**/*"
   # the following files should be refactored to remove Kconfig macros
-  - "components/hal/twai_hal_sja1000.c"
+  - "components/hal/twai_hal_v1.c"
   - "components/hal/esp32/include/hal/twai_ll.h"
   - "components/hal/esp32/include/hal/uart_ll.h"
   - "components/hal/include/hal/twai_types_deprecated.h"
@@ -49,7 +49,7 @@ ignores:
   - "components/hal/test_apps/**/*"
   - "components/esp_hal*/test_apps/**/*"
   # the following files should be refactored to remove sdkconfig.h
-  - "components/hal/twai_hal_sja1000.c"
+  - "components/hal/twai_hal_v1.c"
   - "components/hal/include/hal/twai_types_deprecated.h"
 rule:
   kind: preproc_include