diff --git a/components/esp_driver_twai/test_apps/.build-test-rules.yml b/components/esp_driver_twai/test_apps/.build-test-rules.yml
new file mode 100644
index 0000000000..78a389048a
--- /dev/null
+++ b/components/esp_driver_twai/test_apps/.build-test-rules.yml
@@ -0,0 +1,6 @@
+components/esp_driver_twai/test_apps/twaifd_test:
+  disable:
+    - if: SOC_TWAI_SUPPORTED != 1 or SOC_TWAI_SUPPORT_FD != 1
+      reason: Only support FD targets now
+  depends_components:
+    - esp_driver_twai
diff --git a/components/esp_driver_twai/test_apps/twaifd_test/CMakeLists.txt b/components/esp_driver_twai/test_apps/twaifd_test/CMakeLists.txt
new file mode 100644
index 0000000000..301c7f3a61
--- /dev/null
+++ b/components/esp_driver_twai/test_apps/twaifd_test/CMakeLists.txt
@@ -0,0 +1,8 @@
+# This is the project CMakeLists.txt file for the test subproject
+cmake_minimum_required(VERSION 3.16)
+
+# "Trim" the build. Include the minimal set of components, main, and anything it depends on.
+set(COMPONENTS main)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(twaifd_test)
diff --git a/components/esp_driver_twai/test_apps/twaifd_test/README.md b/components/esp_driver_twai/test_apps/twaifd_test/README.md
new file mode 100644
index 0000000000..1d5f1c0a57
--- /dev/null
+++ b/components/esp_driver_twai/test_apps/twaifd_test/README.md
@@ -0,0 +1,2 @@
+| Supported Targets | ESP32-C5 |
+| ----------------- | -------- |
diff --git a/components/esp_driver_twai/test_apps/twaifd_test/main/CMakeLists.txt b/components/esp_driver_twai/test_apps/twaifd_test/main/CMakeLists.txt
new file mode 100644
index 0000000000..739da7e68f
--- /dev/null
+++ b/components/esp_driver_twai/test_apps/twaifd_test/main/CMakeLists.txt
@@ -0,0 +1,10 @@
+set(srcs
+    "test_app_main.c"
+    "test_twaifd.c"
+)
+
+idf_component_register(
+    SRCS ${srcs}
+    PRIV_REQUIRES esp_driver_twai
+    WHOLE_ARCHIVE
+)
diff --git a/components/esp_driver_twai/test_apps/twaifd_test/main/idf_component.yml b/components/esp_driver_twai/test_apps/twaifd_test/main/idf_component.yml
new file mode 100644
index 0000000000..f5001494e2
--- /dev/null
+++ b/components/esp_driver_twai/test_apps/twaifd_test/main/idf_component.yml
@@ -0,0 +1,3 @@
+dependencies:
+  test_utils:
+    path: ${IDF_PATH}/tools/unit-test-app/components/test_utils
diff --git a/components/esp_driver_twai/test_apps/twaifd_test/main/test_app_main.c b/components/esp_driver_twai/test_apps/twaifd_test/main/test_app_main.c
new file mode 100644
index 0000000000..229f8d8dcd
--- /dev/null
+++ b/components/esp_driver_twai/test_apps/twaifd_test/main/test_app_main.c
@@ -0,0 +1,27 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "unity_test_utils.h"
+#include "unity_test_runner.h"
+#include "unity_test_utils_memory.h"
+#include "esp_heap_caps.h"
+
+#define LEAKS (200)
+
+void setUp(void)
+{
+    unity_utils_record_free_mem();
+}
+
+void tearDown(void)
+{
+    unity_utils_evaluate_leaks_direct(LEAKS);
+}
+
+void app_main(void)
+{
+    unity_run_menu();
+}
diff --git a/components/esp_driver_twai/test_apps/twaifd_test/main/test_twaifd.c b/components/esp_driver_twai/test_apps/twaifd_test/main/test_twaifd.c
new file mode 100644
index 0000000000..272f5d48c1
--- /dev/null
+++ b/components/esp_driver_twai/test_apps/twaifd_test/main/test_twaifd.c
@@ -0,0 +1,334 @@
+/*
+ * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <string.h>
+#include <sys/param.h>
+#include "unity.h"
+#include "esp_log.h"
+#include "esp_heap_caps.h"
+#include "freertos/FreeRTOS.h"
+#include "test_utils.h"
+#include "esp_twai.h"
+#include "esp_twai_onchip.h"
+
+#define TEST_TX_GPIO                4
+#define TEST_RX_GPIO                5
+#define TEST_TWAI_QUEUE_DEPTH       5
+#define TEST_TRANS_LEN              100
+#define TEST_FRAME_LEN              7
+#define TEST_FRAME_NUM              howmany(TEST_TRANS_LEN, TEST_FRAME_LEN)
+
+static bool test_driver_install_rx_cb(twai_node_handle_t handle, const twai_rx_done_event_data_t *edata, void *user_ctx)
+{
+    twai_frame_header_t rx_header;
+    if (ESP_OK == twai_node_receive_from_isr(handle, &rx_header, NULL, 0, NULL)) {
+        ESP_EARLY_LOGI("Recv ", "id 0x%lx rtr %d", rx_header.id, rx_header.rtr);
+    }
+    if (rx_header.id != 0x100) {
+        TEST_FAIL();    //callback is unregistered, should not run here
+    }
+    return false;
+}
+
+TEST_CASE("twai install uninstall (loopback)", "[TWAI]")
+{
+    esp_err_t ret;
+    twai_node_handle_t node_hdl[SOC_TWAI_CONTROLLER_NUM + 1];
+    twai_onchip_node_config_t node_config = {
+        .io_cfg.tx = TEST_TX_GPIO,
+        .io_cfg.rx = TEST_TX_GPIO,  // Using same pin for test without transceiver
+        .bit_timing.bitrate = 1000000,
+        .data_timing.bitrate = 1000000,
+        .tx_queue_depth = TEST_TWAI_QUEUE_DEPTH,
+        .flags.enable_loopback = true,
+        .flags.enable_self_test = true,
+    };
+
+    // loop 10 times to check memory leak
+    for (uint8_t loop = 0; loop < 10; loop ++) {
+        for (uint8_t i = 0; i < SOC_TWAI_CONTROLLER_NUM + 1; i++) {
+            ret = twai_new_node_onchip(&node_config, &node_hdl[i]);
+            printf("Install TWAI%d return %s\n", i, esp_err_to_name(ret));
+            TEST_ASSERT(ret == ((i < SOC_TWAI_CONTROLLER_NUM) ? ESP_OK : ESP_ERR_NOT_FOUND));
+        }
+        // can't disable before enable
+        TEST_ESP_ERR(ESP_ERR_INVALID_STATE, twai_node_disable(node_hdl[0]));
+        twai_event_callbacks_t user_cbs = {
+            .on_rx_done = test_driver_install_rx_cb,
+        };
+        TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl[0], &user_cbs, NULL));
+
+        printf("Test unregister callback\n");
+        user_cbs.on_rx_done = NULL;
+        TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl[0], &user_cbs, NULL));
+
+        twai_frame_t tx_frame = {
+            .header.id = 0x82,
+            .header.rtr = true,
+        };
+        printf("Test transmit before enable\n");
+        TEST_ESP_ERR(ESP_ERR_INVALID_STATE, twai_node_transmit(node_hdl[0], &tx_frame, 0));
+        TEST_ESP_OK(twai_node_enable(node_hdl[0]));
+        TEST_ESP_OK(twai_node_disable(node_hdl[0]));
+        TEST_ESP_OK(twai_node_enable(node_hdl[0]));
+        TEST_ESP_OK(twai_node_transmit(node_hdl[0], &tx_frame, 0));
+
+        TEST_ESP_OK(twai_node_disable(node_hdl[0]));
+        TEST_ESP_OK(twai_node_delete(node_hdl[0]));
+
+        printf("Test install after delete\n");
+        TEST_ESP_OK(twai_new_node_onchip(&node_config, &node_hdl[SOC_TWAI_CONTROLLER_NUM]));
+        user_cbs.on_rx_done = test_driver_install_rx_cb,
+        TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl[SOC_TWAI_CONTROLLER_NUM], &user_cbs, NULL));
+        TEST_ESP_OK(twai_node_enable(node_hdl[SOC_TWAI_CONTROLLER_NUM]));
+        tx_frame.header.id = 0x100;
+        TEST_ESP_OK(twai_node_transmit(node_hdl[SOC_TWAI_CONTROLLER_NUM], &tx_frame, 0));
+        twai_frame_t rx_frame;
+        printf("Test receive from task\n");
+        TEST_ESP_ERR(ESP_ERR_INVALID_STATE, twai_node_receive_from_isr(node_hdl[SOC_TWAI_CONTROLLER_NUM], &rx_frame.header, rx_frame.buffer, rx_frame.buffer_len, NULL));
+
+        TEST_ESP_OK(twai_node_disable(node_hdl[SOC_TWAI_CONTROLLER_NUM]));
+        for (uint8_t i = 1; i <= SOC_TWAI_CONTROLLER_NUM; i++) {
+            printf("Uninstall TWAI%d\n", i - 1);
+            TEST_ESP_OK(twai_node_delete(node_hdl[i]));
+        }
+    }
+}
+
+static bool test_enable_disable_rx_cb(twai_node_handle_t handle, const twai_rx_done_event_data_t *edata, void *user_ctx)
+{
+    twai_frame_t *rx_frame = user_ctx;
+    size_t ret_len;
+    if (ESP_OK == twai_node_receive_from_isr(handle, &rx_frame->header, rx_frame->buffer, rx_frame->buffer_len, &ret_len)) {
+        ESP_EARLY_LOGI("twai", "RX id 0x%x len %d ext %d fd %d brs %d esi %d", rx_frame->header.id, ret_len, rx_frame->header.ide, rx_frame->header.fdf, rx_frame->header.brs, rx_frame->header.esi);
+        rx_frame->buffer += rx_frame->buffer_len;
+    }
+    return false;
+}
+
+TEST_CASE("twai transmit stop resume (loopback)", "[TWAI]")
+{
+    // prepare test memory
+    uint8_t *send_pkg_ptr = heap_caps_malloc(TEST_TRANS_LEN, MALLOC_CAP_8BIT);
+    uint8_t *recv_pkg_ptr = heap_caps_malloc(TEST_TRANS_LEN, MALLOC_CAP_8BIT);
+    TEST_ASSERT(send_pkg_ptr && recv_pkg_ptr);
+    printf("Transmit %d bytes package in %d frames\n", TEST_TRANS_LEN, TEST_FRAME_NUM);
+
+    twai_node_handle_t node_hdl;
+    twai_onchip_node_config_t node_config = {
+        .io_cfg.tx = TEST_TX_GPIO,
+        .io_cfg.rx = TEST_TX_GPIO,  // Using same pin for test without transceiver
+        .bit_timing.bitrate = 1000000,
+        .data_timing.bitrate = 4000000,
+        .data_timing.ssp_permill = 700, // ssp 70.0%
+        .tx_queue_depth = TEST_TWAI_QUEUE_DEPTH,
+        .flags.enable_loopback = true,
+        .flags.enable_self_test = true,
+    };
+    TEST_ESP_OK(twai_new_node_onchip(&node_config, &node_hdl));
+
+    // reconfig fd timing to 48M/(12+5+6+1)=2MHz, ssp=20/(12+5+6+1)=83%
+    twai_timing_advanced_config_t timing_fd = {
+        .brp = 1,
+        .prop_seg = 12,
+        .tseg_1 = 5,
+        .tseg_2 = 6,
+        .sjw = 3,
+        .ssp_offset = 20,
+    };
+    TEST_ESP_OK(twai_node_reconfig_timing(node_hdl, NULL, &timing_fd));
+
+    twai_frame_t rx_frame = {
+        .buffer = recv_pkg_ptr,
+        .buffer_len = TEST_FRAME_LEN,
+    };
+    twai_event_callbacks_t user_cbs = {
+        .on_rx_done = test_enable_disable_rx_cb,
+    };
+    TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl, &user_cbs, &rx_frame));
+    TEST_ESP_OK(twai_node_enable(node_hdl));
+
+    //create and enqueue all transfers
+    twai_frame_t *tx_msgs = heap_caps_calloc(TEST_FRAME_NUM, sizeof(twai_frame_t), MALLOC_CAP_8BIT);
+    TEST_ASSERT(tx_msgs);
+    for (uint32_t tx_cnt = 0; tx_cnt < TEST_FRAME_NUM; tx_cnt++) {
+        tx_msgs[tx_cnt].header.id = tx_cnt | 0x400;
+        tx_msgs[tx_cnt].header.ide = !!(tx_cnt % 3);
+        tx_msgs[tx_cnt].header.fdf = !!(tx_cnt % 4);
+        tx_msgs[tx_cnt].header.brs = !!(tx_cnt % 2);
+        tx_msgs[tx_cnt].buffer = send_pkg_ptr + tx_cnt * TEST_FRAME_LEN;
+        tx_msgs[tx_cnt].buffer_len = ((tx_cnt + 1) == TEST_FRAME_NUM) ? (TEST_TRANS_LEN - tx_cnt * TEST_FRAME_LEN) : TEST_FRAME_LEN;
+        TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_msgs[tx_cnt], 500));
+    }
+
+    TEST_ESP_OK(twai_node_disable(node_hdl));
+    for (uint8_t i = 3; i > 0; i--) {
+        printf("interrupted, %d sec\n", i);
+        vTaskDelay(1000);
+    }
+    printf("continuing ...\n");
+    TEST_ESP_OK(twai_node_enable(node_hdl));
+
+    //waiting pkg receive finish
+    while (rx_frame.buffer < recv_pkg_ptr + TEST_TRANS_LEN);
+    free(tx_msgs);
+
+    // check if pkg receive correct
+    printf("pkg check %s!!\n", memcmp(recv_pkg_ptr, send_pkg_ptr, TEST_TRANS_LEN) ? "failed" : "ok");
+    TEST_ASSERT_EQUAL_HEX8_ARRAY(send_pkg_ptr, recv_pkg_ptr, TEST_TRANS_LEN);
+
+    free(send_pkg_ptr);
+    free(recv_pkg_ptr);
+    TEST_ESP_OK(twai_node_disable(node_hdl));
+    TEST_ESP_OK(twai_node_delete(node_hdl));
+}
+
+static void test_random_trans_generator(twai_node_handle_t node_hdl, uint32_t trans_num)
+{
+    uint8_t send_pkg_ptr[TWAIFD_FRAME_MAX_LEN];
+    twai_frame_t tx_msg = {
+        .buffer = send_pkg_ptr,
+    };
+    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.ide = !!(tx_cnt % 2);
+        tx_msg.header.rtr = !!(tx_cnt % 3);
+        tx_msg.header.fdf = !!(tx_cnt % 5);
+        tx_msg.buffer_len = tx_msg.header.fdf ? (tx_cnt % TWAIFD_FRAME_MAX_LEN) : (tx_cnt % TWAI_FRAME_MAX_LEN);
+        TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_msg, 0));
+        vTaskDelay(8);  //as async transaction, waiting trans done
+    }
+}
+
+static bool test_filter_rx_done_cb(twai_node_handle_t handle, const twai_rx_done_event_data_t *edata, void *user_ctx)
+{
+    uint8_t *test_ctrl = user_ctx;
+    size_t ret_len;
+    uint8_t recv_pkg_ptr[TWAIFD_FRAME_MAX_LEN];
+    twai_frame_t rx_frame = {
+        .buffer = recv_pkg_ptr,
+        .buffer_len = TWAIFD_FRAME_MAX_LEN,
+    };
+    if (ESP_OK == twai_node_receive_from_isr(handle, &rx_frame.header, rx_frame.buffer, rx_frame.buffer_len, &ret_len)) {
+        ESP_EARLY_LOGI("twai", "RX id 0x%4x len %2d ext %d rmt %d fd %d", rx_frame.header.id, ret_len, rx_frame.header.ide, rx_frame.header.rtr, rx_frame.header.fdf);
+        switch (test_ctrl[0]) {
+        case 0: //filter 0
+            TEST_ASSERT(rx_frame.header.id >= 0x10);
+            TEST_ASSERT(!rx_frame.header.ide);
+            break;
+        case 1:
+        case 2: break;
+        case 3: //filter 1
+            TEST_ASSERT((rx_frame.header.id & 0xfff0) == 0xf000);
+            TEST_ASSERT(rx_frame.header.ide && !rx_frame.header.fdf);
+            break;
+        case 4: //range filter 0
+            TEST_ASSERT(!rx_frame.header.ide && rx_frame.header.fdf);
+            break;
+        default: TEST_ASSERT(false);
+        }
+        test_ctrl[1] ++;
+    }
+    return false;
+}
+
+TEST_CASE("twai filter (loopback)", "[TWAI]")
+{
+    uint8_t test_ctrl[2];
+    twai_node_handle_t node_hdl;
+    twai_onchip_node_config_t node_config = {
+        .io_cfg.tx = TEST_TX_GPIO,
+        .io_cfg.rx = TEST_TX_GPIO,  // Using same pin for test without transceiver
+        .bit_timing.bitrate = 1000000,
+        .tx_queue_depth = TEST_TWAI_QUEUE_DEPTH,
+        .flags.enable_loopback = true,
+        .flags.enable_self_test = true,
+    };
+    TEST_ESP_OK(twai_new_node_onchip(&node_config, &node_hdl));
+
+    twai_event_callbacks_t user_cbs = {
+        .on_rx_done = test_filter_rx_done_cb,
+    };
+    TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl, &user_cbs, test_ctrl));
+
+    //------------------ Filter 0 -------------------//
+    test_ctrl[0] = 0;
+    test_ctrl[1] = 0;
+    printf("Testing mask filter 0\n");
+    twai_mask_filter_config_t mfilter_cfg0 = {
+        .id = 0x10,
+        .mask = 0xf0,
+        .is_ext = false,
+    };
+    TEST_ESP_OK(twai_node_config_mask_filter(node_hdl, 0, &mfilter_cfg0));
+    TEST_ESP_OK(twai_node_enable(node_hdl));
+    test_random_trans_generator(node_hdl, 30);
+    TEST_ASSERT_UINT8_WITHIN(30 / 2 - 1, 30 / 2, test_ctrl[1]);    //after filter, rx frame should less than tx num
+
+    printf("Change to receive ALL\n");
+    test_ctrl[0] = 1;
+    test_ctrl[1] = 0;
+    // set to receive ALL
+    mfilter_cfg0.id = 0;
+    mfilter_cfg0.mask = 0;
+    TEST_ESP_OK(twai_node_disable(node_hdl));
+    TEST_ESP_OK(twai_node_config_mask_filter(node_hdl, 0, &mfilter_cfg0));
+    TEST_ESP_OK(twai_node_enable(node_hdl));
+    test_random_trans_generator(node_hdl, 30);
+    TEST_ASSERT_EQUAL(30, test_ctrl[1]);
+
+    printf("Change to receive NONE\n");
+    test_ctrl[0] = 2;
+    test_ctrl[1] = 0;
+    // set to receive NONE
+    mfilter_cfg0.id = 0xFFFFFFFF;
+    mfilter_cfg0.mask = 0xFFFFFFFF;
+    TEST_ESP_OK(twai_node_disable(node_hdl));
+    TEST_ESP_OK(twai_node_config_mask_filter(node_hdl, 0, &mfilter_cfg0));
+    TEST_ESP_OK(twai_node_enable(node_hdl));
+    test_random_trans_generator(node_hdl, 30);
+    TEST_ASSERT_EQUAL(0, test_ctrl[1]);
+
+    //------------------ Filter 1 -------------------//
+    test_ctrl[0] = 3;
+    test_ctrl[1] = 0;
+    printf("Testing mask filter 1\n");
+    twai_mask_filter_config_t mfilter_cfg1 = {
+        .id = 0xf000,
+        .mask = 0xfff0,
+        .is_ext = true,
+        .no_fd = true,
+    };
+    TEST_ESP_OK(twai_node_disable(node_hdl));
+    TEST_ESP_OK(twai_node_config_mask_filter(node_hdl, 1, &mfilter_cfg1));
+    TEST_ESP_OK(twai_node_enable(node_hdl));
+    test_random_trans_generator(node_hdl, 30);
+    TEST_ASSERT_UINT8_WITHIN(30 / 2 - 1, 30 / 2, test_ctrl[1]);
+    // set to receive NONE
+    mfilter_cfg1.id = 0xFFFFFFFF;
+    mfilter_cfg1.mask = 0xFFFFFFFF;
+    TEST_ESP_OK(twai_node_disable(node_hdl));
+    TEST_ESP_OK(twai_node_config_mask_filter(node_hdl, 1, &mfilter_cfg1));
+
+    //------------------ Range Filter 0 -------------------//
+    test_ctrl[0] = 4;
+    test_ctrl[1] = 0;
+    printf("Testing range filter 0\n");
+    twai_range_filter_config_t rfilter_cfg0 = {
+        .range_low = 0,
+        .range_high = 0xFFFFFFFF,
+        .is_ext = false,
+        .no_classic = true,
+    };
+    TEST_ESP_OK(twai_node_config_range_filter(node_hdl, 0, &rfilter_cfg0));
+    TEST_ESP_OK(twai_node_enable(node_hdl));
+    test_random_trans_generator(node_hdl, 30);
+    TEST_ASSERT_UINT8_WITHIN(30 / 2 - 1, 30 / 2, test_ctrl[1]);
+
+    TEST_ESP_OK(twai_node_disable(node_hdl));
+    TEST_ESP_OK(twai_node_delete(node_hdl));
+}
diff --git a/components/esp_driver_twai/test_apps/twaifd_test/sdkconfig.defaults b/components/esp_driver_twai/test_apps/twaifd_test/sdkconfig.defaults
new file mode 100644
index 0000000000..8e326e32e1
--- /dev/null
+++ b/components/esp_driver_twai/test_apps/twaifd_test/sdkconfig.defaults
@@ -0,0 +1,2 @@
+CONFIG_FREERTOS_HZ=1000
+CONFIG_ESP_TASK_WDT_INIT=n