diff --git a/components/driver/twai.c b/components/driver/twai.c
index 54c6bd4768..bb79ab959a 100644
--- a/components/driver/twai.c
+++ b/components/driver/twai.c
@@ -339,7 +339,12 @@ esp_err_t twai_driver_install(const twai_general_config_t *g_config, const twai_
     TWAI_CHECK(g_config->rx_queue_len > 0, ESP_ERR_INVALID_ARG);
     TWAI_CHECK(g_config->tx_io >= 0 && g_config->tx_io < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG);
     TWAI_CHECK(g_config->rx_io >= 0 && g_config->rx_io < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG);
-    TWAI_CHECK(TWAI_BRP_IS_VALID(t_config->brp), ESP_ERR_INVALID_ARG);
+#if (CONFIG_ESP32_REV_MIN >= 2)
+    TWAI_CHECK(t_config->brp >= TWAI_BRP_MIN && t_config->brp <= TWAI_BRP_MAX_ECO, ESP_ERR_INVALID_ARG);
+#else
+    TWAI_CHECK(t_config->brp >= TWAI_BRP_MIN && t_config->brp <= TWAI_BRP_MAX, ESP_ERR_INVALID_ARG);
+#endif
+    
 
     esp_err_t ret;
     twai_obj_t *p_twai_obj_dummy;
diff --git a/components/soc/include/hal/twai_types.h b/components/soc/include/hal/twai_types.h
index a359ec802f..1e6fc7ed8b 100644
--- a/components/soc/include/hal/twai_types.h
+++ b/components/soc/include/hal/twai_types.h
@@ -20,6 +20,7 @@ extern "C" {
 
 #include <stdint.h>
 #include <stdbool.h>
+#include "sdkconfig.h"
 
 /**
  * @brief   TWAI Constants
@@ -59,7 +60,7 @@ extern "C" {
 #define TWAI_TIMING_CONFIG_5KBITS()     {.brp = 800, .tseg_1 = 15, .tseg_2 = 8, .sjw = 3, .triple_sampling = false}
 #define TWAI_TIMING_CONFIG_10KBITS()    {.brp = 400, .tseg_1 = 15, .tseg_2 = 8, .sjw = 3, .triple_sampling = false}
 #endif
-#if (TWAI_BRP_MAX > 128)
+#if (TWAI_BRP_MAX > 128) || (CONFIG_ESP32_REV_MIN >= 2)
 #define TWAI_TIMING_CONFIG_12_5KBITS()  {.brp = 256, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false}
 #define TWAI_TIMING_CONFIG_16KBITS()    {.brp = 200, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false}
 #define TWAI_TIMING_CONFIG_20KBITS()    {.brp = 200, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
diff --git a/components/soc/soc/esp32/include/soc/can_caps.h b/components/soc/soc/esp32/include/soc/can_caps.h
index f0efef7764..f372e9e07e 100644
--- a/components/soc/soc/esp32/include/soc/can_caps.h
+++ b/components/soc/soc/esp32/include/soc/can_caps.h
@@ -20,20 +20,12 @@ extern "C" {
 
 #warning soc/can_caps.h is deprecated, please use soc/twai_caps.h instead
 
-#include "sdkconfig.h"
-
 /* ---------------------------- Compatibility ------------------------------- */
 
-#if (CONFIG_ESP32_REV_MIN >= 2)
-#define CAN_BRP_DIV_SUPPORTED       1
-#define CAN_BRP_DIV_THRESH          128
-#define CAN_BRP_IS_VALID(brp)       (((brp) >= 2 && (brp) <= 128 && ((brp) & 0x1) == 0) || ((brp) >= 132 && (brp) <= 256 && ((brp) & 0x3) == 0))
-#define CAN_BRP_MAX                 256
-#else
-#define CAN_BRP_IS_VALID(brp)       ((brp) >= 2 && (brp) <= 128 && ((brp) & 0x1) == 0)
-#define CAN_BRP_MAX                 128
-#endif
-
+#define CAN_BRP_MIN                         2
+#define CAN_BRP_MAX                         128
+#define CAN_BRP_MAX_ECO                     256
+#define CAN_BRP_DIV_THRESH                  128
 #define CAN_SUPPORT_MULTI_ADDRESS_LAYOUT    1
 
 #ifdef __cplusplus
diff --git a/components/soc/soc/esp32/include/soc/twai_caps.h b/components/soc/soc/esp32/include/soc/twai_caps.h
index 75d977ef3a..03cf155997 100644
--- a/components/soc/soc/esp32/include/soc/twai_caps.h
+++ b/components/soc/soc/esp32/include/soc/twai_caps.h
@@ -18,22 +18,10 @@
 extern "C" {
 #endif
 
-#include "sdkconfig.h"
-
-//Chip specific TWAI related macros
-#if __DOXYGEN__ || (CONFIG_ESP32_REV_MIN >= 2)
-#define TWAI_BRP_DIV_SUPPORTED      1
-#define TWAI_BRP_DIV_THRESH         128
-//Any even number from 2 to 128, or multiples of 4 from 132 to 256
-#define TWAI_BRP_IS_VALID(brp)      (((brp) >= 2 && (brp) <= 128 && ((brp) & 0x1) == 0) || ((brp) >= 132 && (brp) <= 256 && ((brp) & 0x3) == 0))
-#define TWAI_BRP_MAX                256
-#else
-//Any even number from 2 to 128
-#define TWAI_BRP_IS_VALID(brp)      ((brp) >= 2 && (brp) <= 128 && ((brp) & 0x1) == 0)
-#define TWAI_BRP_MAX                128
-#endif
-
-//Chip specific TWAI capabilities
+#define TWAI_BRP_MIN                        2
+#define TWAI_BRP_MAX                        128
+#define TWAI_BRP_MAX_ECO                    256
+#define TWAI_BRP_DIV_THRESH                 128
 #define TWAI_SUPPORT_MULTI_ADDRESS_LAYOUT   1
 
 #ifdef __cplusplus
diff --git a/components/soc/soc/esp32s2/include/soc/twai_caps.h b/components/soc/soc/esp32s2/include/soc/twai_caps.h
index 88968ba90a..4ad5fbd829 100644
--- a/components/soc/soc/esp32s2/include/soc/twai_caps.h
+++ b/components/soc/soc/esp32s2/include/soc/twai_caps.h
@@ -18,10 +18,8 @@
 extern "C" {
 #endif
 
-//Chip specific TWAI related macros
-//Any even number from 2 to 32768
-#define TWAI_BRP_IS_VALID(brp)       ((brp) >= 2 && (brp) <= 32768 && ((brp) & 0x1) == 0)
-#define TWAI_BRP_MAX                 32768
+#define TWAI_BRP_MIN                2
+#define TWAI_BRP_MAX                32768
 
 #ifdef __cplusplus
 }
diff --git a/components/soc/src/esp32/include/hal/can_types.h b/components/soc/src/esp32/include/hal/can_types.h
index 487e6e41da..2c65d2130f 100644
--- a/components/soc/src/esp32/include/hal/can_types.h
+++ b/components/soc/src/esp32/include/hal/can_types.h
@@ -38,7 +38,7 @@ extern "C" {
 #define CAN_MSG_FLAG_SELF               TWAI_MSG_FLAG_SELF
 #define CAN_MSG_FLAG_DLC_NON_COMP       TWAI_MSG_FLAG_DLC_NON_COMP
 
-#if (TWAI_BRP_MAX > 128)
+#if (TWAI_BRP_MAX > 128) || (CONFIG_ESP32_REV_MIN >= 2)
 #define CAN_TIMING_CONFIG_12_5KBITS()   TWAI_TIMING_CONFIG_12_5KBITS()
 #define CAN_TIMING_CONFIG_16KBITS()     TWAI_TIMING_CONFIG_16KBITS()
 #define CAN_TIMING_CONFIG_20KBITS()     TWAI_TIMING_CONFIG_20KBITS()
diff --git a/components/soc/src/esp32/include/hal/twai_ll.h b/components/soc/src/esp32/include/hal/twai_ll.h
index 5a4422ab74..c82692af54 100644
--- a/components/soc/src/esp32/include/hal/twai_ll.h
+++ b/components/soc/src/esp32/include/hal/twai_ll.h
@@ -28,6 +28,7 @@ extern "C" {
 
 #include <stdint.h>
 #include <stdbool.h>
+#include "sdkconfig.h"
 #include "hal/twai_types.h"
 #include "soc/twai_periph.h"
 
@@ -336,8 +337,8 @@ static inline uint32_t twai_ll_get_and_clear_intrs(twai_dev_t *hw)
  */
 static inline void twai_ll_set_enabled_intrs(twai_dev_t *hw, uint32_t intr_mask)
 {
-#ifdef TWAI_BRP_DIV_SUPPORTED
-    //ESP32 Rev 2 has brp div. Need to mask when setting
+#if (CONFIG_ESP32_REV_MIN >= 2)
+    //ESP32 Rev 2 or later has brp div field. Need to mask it out
     hw->interrupt_enable_reg.val = (hw->interrupt_enable_reg.val & 0x10) | intr_mask;
 #else
     hw->interrupt_enable_reg.val = intr_mask;
@@ -362,7 +363,7 @@ static inline void twai_ll_set_enabled_intrs(twai_dev_t *hw, uint32_t intr_mask)
  */
 static inline void twai_ll_set_bus_timing(twai_dev_t *hw, uint32_t brp, uint32_t sjw, uint32_t tseg1, uint32_t tseg2, bool triple_sampling)
 {
-#ifdef TWAI_BRP_DIV_SUPPORTED
+#if (CONFIG_ESP32_REV_MIN >= 2)
     if (brp > TWAI_BRP_DIV_THRESH) {
         //Need to set brp_div bit
         hw->interrupt_enable_reg.brp_div = 1;