diff --git a/libraries/HAL_Drivers/drv_can.c b/libraries/HAL_Drivers/drv_can.c
index 1f10541..2f7a6eb 100644
--- a/libraries/HAL_Drivers/drv_can.c
+++ b/libraries/HAL_Drivers/drv_can.c
@@ -60,8 +60,8 @@ static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
     {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_1TQ  | CAN_BS2_3TQ | 2)},
-    {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_1TQ  | CAN_BS2_3TQ | 4)},
+    {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_6TQ  | CAN_BS2_3TQ | 10)},
+    {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_6TQ  | CAN_BS2_3TQ | 20)},
     {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)},