diff --git a/libraries/HAL_Drivers/drv_can.c b/libraries/HAL_Drivers/drv_can.c
index 04d9c5d..1f10541 100644
--- a/libraries/HAL_Drivers/drv_can.c
+++ b/libraries/HAL_Drivers/drv_can.c
@@ -51,7 +51,7 @@ static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
     {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 150)},
     {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 300)}
 };
-#else  /* APB1 45MHz(max) */
+#else  /* APB1 50MHz(max) */
 static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
 {
 #ifdef BSP_USING_CAN168M
@@ -59,14 +59,14 @@ static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
 #else
     {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_6TQ  | CAN_BS2_3TQ | 5)},
 #endif
-    {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_5TQ | 4)},
-    {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 6)},
-    {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 12)},
-    {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 24)},
-    {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 30)},
-    {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 60)},
-    {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 150)},
-    {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 300)}
+    // {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_5TQ | 4)},
+    {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_1TQ  | CAN_BS2_3TQ | 2)},
+    {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_1TQ  | CAN_BS2_3TQ | 4)},
+    {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_4TQ  | CAN_BS2_3TQ | 50)},
+    {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_3TQ  | CAN_BS2_6TQ | 50)},
+    {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_1TQ  | CAN_BS2_3TQ | 200)},
+    {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_3TQ  | CAN_BS2_6TQ | 250)},
+    {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_12TQ  | CAN_BS2_7TQ | 250)}
 };
 #endif
 #elif defined (SOC_SERIES_STM32F7)/* APB1 54MHz(max) */