diff --git a/components/esp_driver_twai/esp_twai.c b/components/esp_driver_twai/esp_twai.c
index 26d86a5174b..69515cde732 100644
--- a/components/esp_driver_twai/esp_twai.c
+++ b/components/esp_driver_twai/esp_twai.c
@@ -23,12 +23,12 @@
  *                | tseg2/2  ^            ^
  *                          sjw      sample_point
  */
-uint32_t twai_node_timing_calc_param(const uint32_t source_freq, const twai_timing_basic_config_t *in_param, const twai_timing_constraint_t *hw_limit, twai_timing_advanced_config_t *out_param)
+uint32_t twai_node_timing_calc_param(const uint32_t source_freq, const twai_timing_basic_config_t *in_param, const twai_timing_limits_t *hw_limit, twai_timing_advanced_config_t *out_param)
 {
     uint32_t total_div = (source_freq + in_param->bitrate / 2) / in_param->bitrate;
     uint32_t pre_div = hw_limit->brp_min;
     uint16_t tseg = 0;
-    for (; pre_div <= hw_limit->brp_max; pre_div ++) {
+    for (; pre_div <= hw_limit->brp_max; pre_div += hw_limit->brp_inc) {
         tseg = total_div / pre_div;
         if (total_div != tseg * pre_div) {
             continue;   // no integer tseg
diff --git a/components/esp_driver_twai/esp_twai_onchip.c b/components/esp_driver_twai/esp_twai_onchip.c
index ae528af92a4..08bbaf4b491 100644
--- a/components/esp_driver_twai/esp_twai_onchip.c
+++ b/components/esp_driver_twai/esp_twai_onchip.c
@@ -436,19 +436,11 @@ static esp_err_t _node_calc_set_bit_timing(twai_node_handle_t node, const twai_t
     ESP_RETURN_ON_FALSE((!timing_fd->bitrate) || (timing_fd->bitrate == timing->bitrate), ESP_ERR_INVALID_ARG, TAG, "FD stage bitrate is not supported");
 #endif
 
-    twai_timing_constraint_t hw_const = {
-        .brp_min = TWAI_LL_BRP_MIN,
-        .brp_max = TWAI_LL_BRP_MAX,
-        .prop_max = TWAI_LL_PROP_MAX,
-        .tseg1_min = TWAI_LL_TSEG1_MIN,
-        .tseg1_max = TWAI_LL_TSEG1_MAX,
-        .tseg2_min = TWAI_LL_TSEG2_MIN,
-        .tseg2_max = TWAI_LL_TSEG2_MAX,
-        .sjw_max = TWAI_LL_SJW_MAX,
-    };
+    twai_timing_limits_t hw_limits = {};
+    twai_hal_get_timing_limits(&hw_limits);
 
     twai_timing_advanced_config_t timing_adv = {}, *timing_fd_ptr = NULL;
-    uint32_t real_baud = twai_node_timing_calc_param(twai_ctx->src_freq_hz, timing, &hw_const, &timing_adv);
+    uint32_t real_baud = twai_node_timing_calc_param(twai_ctx->src_freq_hz, timing, &hw_limits, &timing_adv);
     ESP_LOGD(TAG, "timing: src %ld brp %ld prop %d seg1 %d seg2 %d sjw %d ssp %d", twai_ctx->src_freq_hz, 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) {
@@ -457,12 +449,8 @@ static esp_err_t _node_calc_set_bit_timing(twai_node_handle_t node, const twai_t
 #if SOC_HAS(TWAI_FD)
     twai_timing_advanced_config_t timing_adv_fd = {};
     if (timing_fd->bitrate) {
-        hw_const.brp_max = TWAI_LL_BRP_MAX_FD;
-        hw_const.prop_max = TWAI_LL_PROP_MAX_FD;
-        hw_const.tseg1_max = TWAI_LL_TSEG1_MAX_FD;
-        hw_const.tseg2_max = TWAI_LL_TSEG2_MAX_FD;
-        hw_const.sjw_max = TWAI_LL_SJW_MAX_FD;
-        real_baud = twai_node_timing_calc_param(twai_ctx->src_freq_hz, timing_fd, &hw_const, &timing_adv_fd);
+        twai_hal_get_timing_limits_fd(&hw_limits);
+        real_baud = twai_node_timing_calc_param(twai_ctx->src_freq_hz, timing_fd, &hw_limits, &timing_adv_fd);
         ESP_LOGD(TAG, "timing_fd: src %ld brp %ld prop %d seg1 %d seg2 %d sjw %d ssp %d", twai_ctx->src_freq_hz, 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) {
@@ -843,3 +831,19 @@ err:
     _node_destroy(node);
     return ret;
 }
+
+esp_err_t twai_node_onchip_get_timing_limits(bool is_fd, twai_timing_limits_t *timing_limits)
+{
+    ESP_RETURN_ON_FALSE(timing_limits, ESP_ERR_INVALID_ARG, TAG, "Invalid argument: null");
+
+    if (is_fd) {
+#if SOC_HAS(TWAI_FD)
+        twai_hal_get_timing_limits_fd(timing_limits);
+#else
+        ESP_RETURN_ON_ERROR(ESP_ERR_NOT_SUPPORTED, TAG, "FD is not supported");
+#endif
+    } else {
+        twai_hal_get_timing_limits(timing_limits);
+    }
+    return ESP_OK;
+}
diff --git a/components/esp_driver_twai/include/esp_private/twai_utils.h b/components/esp_driver_twai/include/esp_private/twai_utils.h
index 587fc8a45f6..81239f8bd24 100644
--- a/components/esp_driver_twai/include/esp_private/twai_utils.h
+++ b/components/esp_driver_twai/include/esp_private/twai_utils.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2025-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -11,22 +11,6 @@
 extern "C" {
 #endif
 
-/**
- * @brief TWAI hardware-dependent bit-timing constant
- *
- * Used for calculating and checking bit-timing parameters
- */
-typedef struct {
-    uint32_t brp_min;   /* Bit-rate prescaler */
-    uint32_t brp_max;
-    uint8_t prop_max;   /* Propagation segment */
-    uint8_t tseg1_min;  /* Time segment 1 = prop_seg + phase_seg1 */
-    uint8_t tseg1_max;
-    uint8_t tseg2_min;  /* Time segment 2 = phase_seg2 */
-    uint8_t tseg2_max;
-    uint8_t sjw_max;    /* Synchronisation jump width */
-} twai_timing_constraint_t;
-
 /**
  * @brief Calculate TWAI timing parameters for a given source frequency and baud rate.
  *
@@ -40,7 +24,7 @@ typedef struct {
  * @param out_param Pointer to the output structure where the calculated timing parameters will be stored.
  * @return the actual hardware adopted baudrate.
  */
-uint32_t twai_node_timing_calc_param(const uint32_t source_freq, const twai_timing_basic_config_t *in_param, const twai_timing_constraint_t *hw_limit, twai_timing_advanced_config_t *out_param);
+uint32_t twai_node_timing_calc_param(const uint32_t source_freq, const twai_timing_basic_config_t *in_param, const twai_timing_limits_t *hw_limit, twai_timing_advanced_config_t *out_param);
 
 #ifdef __cplusplus
 }
diff --git a/components/esp_driver_twai/include/esp_twai_onchip.h b/components/esp_driver_twai/include/esp_twai_onchip.h
index a5773868e55..ce95a8997c5 100644
--- a/components/esp_driver_twai/include/esp_twai_onchip.h
+++ b/components/esp_driver_twai/include/esp_twai_onchip.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2024-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -101,6 +101,15 @@ static inline twai_mask_filter_config_t twai_make_dual_filter(uint32_t id1, uint
     return dual_cfg;
 }
 
+/**
+ * @brief Get the hardware-dependent timing limits
+ *
+ * @param[in]  is_fd          True for FD data timing, false for classic timing
+ * @param[out] timing_limits  Pointer to timing limits structure
+ * @return ESP_OK if successful, ESP_ERR_INVALID_ARG if invalid argument
+ */
+esp_err_t twai_node_onchip_get_timing_limits(bool is_fd, twai_timing_limits_t *timing_limits);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/esp_hal_twai/include/hal/twai_hal.h b/components/esp_hal_twai/include/hal/twai_hal.h
index c3cec1b68e0..f6d204fc1c0 100644
--- a/components/esp_hal_twai/include/hal/twai_hal.h
+++ b/components/esp_hal_twai/include/hal/twai_hal.h
@@ -132,6 +132,20 @@ bool twai_hal_init(twai_hal_context_t *hal_ctx, const twai_hal_config_t *config)
  */
 void twai_hal_deinit(twai_hal_context_t *hal_ctx);
 
+/**
+ * @brief Get the hardware-dependent timing limits const
+ *
+ * @param t_const Pointer to timing limits const structure
+ */
+void twai_hal_get_timing_limits(twai_timing_limits_t *t_const);
+
+/**
+ * @brief Get the hardware-dependent timing limits const for FD data timing
+ *
+ * @param t_const_fd Pointer to timing limits const structure for FD data
+ */
+void twai_hal_get_timing_limits_fd(twai_timing_limits_t *t_const_fd);
+
 /**
  * @brief Configure the TWAI peripheral for legacy driver (deprecated)
  *
diff --git a/components/esp_hal_twai/include/hal/twai_types.h b/components/esp_hal_twai/include/hal/twai_types.h
index 5577c147ee7..224a3e81b66 100644
--- a/components/esp_hal_twai/include/hal/twai_types.h
+++ b/components/esp_hal_twai/include/hal/twai_types.h
@@ -74,6 +74,24 @@ typedef struct {
     uint8_t  ssp_offset;            /**< Secondary sample point offset refet to Sync seg, in quanta time, set 0 to disable ssp */
 } twai_timing_advanced_config_t;
 
+/**
+ * @brief TWAI hardware-dependent timing limits const
+ *
+ * Used for calculating and checking bit-timing parameters
+ */
+typedef struct {
+    uint32_t brp_min;       /**< Bit-rate prescaler minimum value */
+    uint32_t brp_max;       /**< Bit-rate prescaler maximum value */
+    uint32_t brp_inc;       /**< Bit-rate prescaler increment step */
+    uint32_t prop_min;      /**< Propagation segment minimum value */
+    uint32_t prop_max;      /**< Propagation segment maximum value */
+    uint32_t tseg1_min;     /**< Time segment 1 (phase_seg1) minimum value */
+    uint32_t tseg1_max;     /**< Time segment 1 (phase_seg1) maximum value */
+    uint32_t tseg2_min;     /**< Time segment 2 (phase_seg2) minimum value */
+    uint32_t tseg2_max;     /**< Time segment 2 (phase_seg2) maximum value */
+    uint32_t sjw_max;       /**< Synchronisation jump width maximum value */
+} twai_timing_limits_t;
+
 /**
  * @brief Configuration for TWAI mask filter
  */
diff --git a/components/esp_hal_twai/twai_hal_v1.c b/components/esp_hal_twai/twai_hal_v1.c
index 8db40957686..4ea5990daa1 100644
--- a/components/esp_hal_twai/twai_hal_v1.c
+++ b/components/esp_hal_twai/twai_hal_v1.c
@@ -92,14 +92,29 @@ void twai_hal_configure(twai_hal_context_t *hal_ctx, const twai_timing_config_t
     twai_ll_set_clkout(hal_ctx->dev, clkout_divider);
 }
 
+void twai_hal_get_timing_limits(twai_timing_limits_t *t_const)
+{
+    t_const->brp_min = TWAI_LL_BRP_MIN;
+    t_const->brp_max = TWAI_LL_BRP_MAX;
+    t_const->brp_inc = 2;   // see `twai_ll_check_brp_validation()`
+    t_const->prop_min = 0;  // hardware don't support prop_seg
+    t_const->prop_max = TWAI_LL_PROP_MAX;
+    t_const->tseg1_min = TWAI_LL_TSEG1_MIN;
+    t_const->tseg1_max = TWAI_LL_TSEG1_MAX;
+    t_const->tseg2_min = TWAI_LL_TSEG2_MIN;
+    t_const->tseg2_max = TWAI_LL_TSEG2_MAX;
+    t_const->sjw_max = TWAI_LL_SJW_MAX;
+}
+
 bool twai_hal_check_timing_valid(twai_hal_context_t *hal_ctx, const twai_timing_advanced_config_t *t_config, bool is_fd)
 {
     (void) is_fd;
     bool valid = true;
     if (t_config) {
+        int hw_seg1 = t_config->tseg_1 + t_config->prop_seg;
         valid &= twai_ll_check_brp_validation(t_config->brp);
         valid &= (t_config->sjw >= 1) && (t_config->sjw <= TWAI_LL_SJW_MAX);
-        valid &= (t_config->tseg_1 >= TWAI_LL_TSEG1_MIN) && (t_config->tseg_1 <= TWAI_LL_TSEG1_MAX);
+        valid &= (hw_seg1 >= TWAI_LL_TSEG1_MIN) && (hw_seg1 <= TWAI_LL_TSEG1_MAX);
         valid &= (t_config->tseg_2 >= TWAI_LL_TSEG2_MIN) && (t_config->tseg_2 <= TWAI_LL_TSEG2_MAX);
     }
     return valid;
diff --git a/components/esp_hal_twai/twai_hal_v2.c b/components/esp_hal_twai/twai_hal_v2.c
index 2b5c46966d3..cfceb8715c2 100644
--- a/components/esp_hal_twai/twai_hal_v2.c
+++ b/components/esp_hal_twai/twai_hal_v2.c
@@ -48,6 +48,34 @@ void twai_hal_deinit(twai_hal_context_t *hal_ctx)
     memset(hal_ctx, 0, sizeof(twai_hal_context_t));
 }
 
+void twai_hal_get_timing_limits(twai_timing_limits_t *t_const)
+{
+    t_const->brp_min = TWAI_LL_BRP_MIN;
+    t_const->brp_max = TWAI_LL_BRP_MAX;
+    t_const->brp_inc = 1;
+    t_const->prop_min = 1;
+    t_const->prop_max = TWAI_LL_PROP_MAX;
+    t_const->tseg1_min = TWAI_LL_TSEG1_MIN;
+    t_const->tseg1_max = TWAI_LL_TSEG1_MAX;
+    t_const->tseg2_min = TWAI_LL_TSEG2_MIN;
+    t_const->tseg2_max = TWAI_LL_TSEG2_MAX;
+    t_const->sjw_max = TWAI_LL_SJW_MAX;
+}
+
+void twai_hal_get_timing_limits_fd(twai_timing_limits_t *t_const_fd)
+{
+    t_const_fd->brp_min = TWAI_LL_BRP_MIN;
+    t_const_fd->brp_max = TWAI_LL_BRP_MAX_FD;
+    t_const_fd->brp_inc = 1;
+    t_const_fd->prop_min = 1;
+    t_const_fd->prop_max = TWAI_LL_PROP_MAX_FD;
+    t_const_fd->tseg1_min = TWAI_LL_TSEG1_MIN;
+    t_const_fd->tseg1_max = TWAI_LL_TSEG1_MAX_FD;
+    t_const_fd->tseg2_min = TWAI_LL_TSEG2_MIN;
+    t_const_fd->tseg2_max = TWAI_LL_TSEG2_MAX_FD;
+    t_const_fd->sjw_max = TWAI_LL_SJW_MAX_FD;
+}
+
 bool twai_hal_check_timing_valid(twai_hal_context_t *hal_ctx, const twai_timing_advanced_config_t *t_config, bool is_fd)
 {
     bool valid = true;