diff --git a/components/esp_driver_twai/include/esp_twai_onchip.h b/components/esp_driver_twai/include/esp_twai_onchip.h
index efa5a38c64..68eb59ce91 100644
--- a/components/esp_driver_twai/include/esp_twai_onchip.h
+++ b/components/esp_driver_twai/include/esp_twai_onchip.h
@@ -55,7 +55,7 @@ esp_err_t twai_new_node_onchip(const twai_onchip_node_config_t *node_config, twa
 
 /**
  * @brief Helper function to configure a dual 16-bit acceptance filter.
- * @note  For 29bits Extended IDs, ONLY high 16bits id/mask is used for eache filter.
+ * @note  For 29bits Extended IDs, ONLY high 16bits id/mask is used for each filter.
  *
  * @param id1     First ID to filter.
  * @param mask1   Mask for first ID.
@@ -86,6 +86,8 @@ static inline twai_mask_filter_config_t twai_make_dual_filter(uint16_t id1, uint
         .mask = is_ext ? (((mask1 & TWAI_EXT_ID_MASK) >> 13) << 16) | ((mask2 & TWAI_EXT_ID_MASK) >> 13) : \
         ((mask1 & TWAI_STD_ID_MASK) << 21) | ((mask2 & TWAI_STD_ID_MASK) << 5),
         .is_ext = is_ext,
+        .no_classic = false,
+        .no_fd = false,
         .dual_filter = true,
     };
     return dual_cfg;
diff --git a/components/esp_driver_twai/test_apps/test_twai/main/CMakeLists.txt b/components/esp_driver_twai/test_apps/test_twai/main/CMakeLists.txt
index 944c6f659f..eb5ac2cbaf 100644
--- a/components/esp_driver_twai/test_apps/test_twai/main/CMakeLists.txt
+++ b/components/esp_driver_twai/test_apps/test_twai/main/CMakeLists.txt
@@ -1,11 +1,11 @@
 set(srcs "test_app_main.c")
 
 if(CONFIG_SOC_TWAI_SUPPORTED)
-    list(APPEND srcs "test_twai_common.c" "test_twai_network.c")
+    list(APPEND srcs "test_twai_common.cpp" "test_twai_network.cpp")
 endif()
 
 if(CONFIG_SOC_TWAI_SUPPORT_FD)
-    list(APPEND srcs "test_twai_fd.c")
+    list(APPEND srcs "test_twai_fd.cpp")
 endif()
 
 idf_component_register(
diff --git a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.c b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
similarity index 75%
rename from components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.c
rename to components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
index 5ab6719a54..69b068be5d 100644
--- a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.c
+++ b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
@@ -18,8 +18,8 @@
 #include "esp_twai_onchip.h"
 #include "driver/uart.h" // for baudrate detection
 
-#define TEST_TX_GPIO                4
-#define TEST_RX_GPIO                5
+#define TEST_TX_GPIO                GPIO_NUM_4
+#define TEST_RX_GPIO                GPIO_NUM_5
 #define TEST_TWAI_QUEUE_DEPTH       5
 #define TEST_TRANS_LEN              100
 #define TEST_FRAME_LEN              7
@@ -27,7 +27,8 @@
 
 static IRAM_ATTR bool test_driver_install_rx_cb(twai_node_handle_t handle, const twai_rx_done_event_data_t *edata, void *user_ctx)
 {
-    twai_frame_t rx_frame = {0};
+    twai_frame_t rx_frame = {};
+
     if (ESP_OK == twai_node_receive_from_isr(handle, &rx_frame)) {
         ESP_EARLY_LOGI("Recv ", "id 0x%lx rtr %d", rx_frame.header.id, rx_frame.header.rtr);
     }
@@ -41,15 +42,13 @@ 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,
-    };
+    twai_onchip_node_config_t node_config = {};
+    node_config.io_cfg.tx = TEST_TX_GPIO;
+    node_config.io_cfg.rx = TEST_TX_GPIO; // Using same pin for test without transceiver
+    node_config.bit_timing.bitrate = 1000000;
+    node_config.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH;
+    node_config.flags.enable_self_test = true;
+    node_config.flags.enable_loopback = true;
 
     // loop 10 times to check memory leak
     for (uint8_t loop = 0; loop < 10; loop ++) {
@@ -60,19 +59,18 @@ TEST_CASE("twai install uninstall (loopback)", "[twai]")
         }
         // 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,
-        };
+
+        twai_event_callbacks_t user_cbs = {};
+        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,
-        };
+        twai_frame_t tx_frame = {};
+        tx_frame.header.id = 0x82;
+        tx_frame.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]));
@@ -90,7 +88,7 @@ TEST_CASE("twai install uninstall (loopback)", "[twai]")
         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 = {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));
 
@@ -105,34 +103,32 @@ TEST_CASE("twai install uninstall (loopback)", "[twai]")
 static void test_twai_baudrate_correctness(twai_clock_source_t clk_src, uint32_t test_bitrate)
 {
     twai_node_handle_t twai_node = NULL;
-    twai_onchip_node_config_t node_config = {
-        .clk_src = clk_src,
-        .io_cfg.tx = TEST_TX_GPIO,
-        .io_cfg.rx = TEST_TX_GPIO,
-        .bit_timing.bitrate = test_bitrate,
-        .tx_queue_depth = 1,
-        .flags.enable_loopback = true,
-        .flags.enable_self_test = true,
-    };
+    twai_onchip_node_config_t node_config = {};
+    node_config.io_cfg.tx = TEST_TX_GPIO;
+    node_config.io_cfg.rx = TEST_TX_GPIO;
+    node_config.clk_src = clk_src;
+    node_config.bit_timing.bitrate = test_bitrate;
+    node_config.tx_queue_depth = 1;
+    node_config.flags.enable_self_test = true;
+    node_config.flags.enable_loopback = true;
     TEST_ESP_OK(twai_new_node_onchip(&node_config, &twai_node));
     TEST_ESP_OK(twai_node_enable(twai_node));
     printf("TWAI driver installed @ %ld Hz\n", test_bitrate);
 
     // We use the UART baudrate detection submodule to measure the TWAI baudrate
-    uart_bitrate_detect_config_t detect_config = {
-        .rx_io_num = TEST_TX_GPIO,
-    };
+    uart_bitrate_detect_config_t detect_config = {};
+    detect_config.rx_io_num = TEST_TX_GPIO;
     TEST_ESP_OK(uart_detect_bitrate_start(UART_NUM_1, &detect_config));
 
-    twai_frame_t tx_frame = {
-        .buffer = (uint8_t []){0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55},
-        .buffer_len = 8,
-        .header = {
-            .id = 0x55555,
-            .ide = true,
-            .dlc = 8,
-        }
+    twai_frame_t tx_frame = {};
+    tx_frame.header.id = 0x55555;
+    tx_frame.header.dlc = 8;
+    tx_frame.header.ide = true;
+    tx_frame.buffer = (uint8_t []) {
+        0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55
     };
+    tx_frame.buffer_len = 8;
+
     TEST_ESP_OK(twai_node_transmit(twai_node, &tx_frame, 500));
     vTaskDelay(100);
 
@@ -140,7 +136,7 @@ static void test_twai_baudrate_correctness(twai_clock_source_t clk_src, uint32_t
     uart_bitrate_res_t measure_result;
     TEST_ESP_OK(uart_detect_bitrate_stop(UART_NUM_1, true, &measure_result));
     uint32_t bitrate_measured = measure_result.clk_freq_hz * 4 / (measure_result.pos_period + measure_result.neg_period);
-    printf("TWAI bitrate measured: %"PRIu32"\r\n", bitrate_measured);
+    printf("TWAI bitrate measured: %" PRIu32 "\r\n", bitrate_measured);
     TEST_ASSERT_INT_WITHIN(1000, test_bitrate, bitrate_measured); // 1k tolerance
 
     TEST_ESP_OK(twai_node_disable(twai_node));
@@ -152,7 +148,7 @@ TEST_CASE("twai baudrate measurement", "[twai]")
     twai_clock_source_t twai_available_clk_srcs[] = SOC_TWAI_CLKS;
     uint32_t source_freq = 0;
     for (size_t i = 0; i < sizeof(twai_available_clk_srcs) / sizeof(twai_available_clk_srcs[0]); i++) {
-        TEST_ESP_OK(esp_clk_tree_src_get_freq_hz(twai_available_clk_srcs[i], ESP_CLK_TREE_SRC_FREQ_PRECISION_APPROX, &source_freq));
+        TEST_ESP_OK(esp_clk_tree_src_get_freq_hz((soc_module_clk_t)twai_available_clk_srcs[i], ESP_CLK_TREE_SRC_FREQ_PRECISION_APPROX, &source_freq));
         printf("Test clock source %d frequency: %ld Hz\n", twai_available_clk_srcs[i], source_freq);
         test_twai_baudrate_correctness(twai_available_clk_srcs[i], 200000);
 
@@ -162,7 +158,7 @@ TEST_CASE("twai baudrate measurement", "[twai]")
 
 static IRAM_ATTR 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;
+    twai_frame_t *rx_frame = (twai_frame_t *)user_ctx;
     if (ESP_OK == twai_node_receive_from_isr(handle, rx_frame)) {
         ESP_EARLY_LOGI("Recv", "RX id 0x%x len %d ext %d brs %d esi %d", rx_frame->header.id, twaifd_dlc2len(rx_frame->header.dlc), rx_frame->header.ide, rx_frame->header.brs, rx_frame->header.esi);
         rx_frame->buffer += rx_frame->buffer_len;
@@ -173,34 +169,33 @@ static IRAM_ATTR bool test_enable_disable_rx_cb(twai_node_handle_t handle, const
 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);
+    uint8_t *send_pkg_ptr = (uint8_t*)heap_caps_malloc(TEST_TRANS_LEN, MALLOC_CAP_8BIT);
+    uint8_t *recv_pkg_ptr = (uint8_t*)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 = 200000,
-        .tx_queue_depth = TEST_TWAI_QUEUE_DEPTH,
-        .flags.enable_loopback = true,
-        .flags.enable_self_test = true,
-    };
+    twai_onchip_node_config_t node_config = {};
+    node_config.io_cfg.tx = TEST_TX_GPIO;
+    node_config.io_cfg.rx = TEST_TX_GPIO; // Using same pin for test without transceiver
+    node_config.bit_timing.bitrate = 200000;
+    node_config.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH;
+    node_config.flags.enable_self_test = true;
+    node_config.flags.enable_loopback = true;
+
     TEST_ESP_OK(twai_new_node_onchip(&node_config, &node_hdl));
 
-    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,
-    };
+    twai_frame_t rx_frame = {};
+    rx_frame.buffer = recv_pkg_ptr;
+    rx_frame.buffer_len = TEST_FRAME_LEN;
+
+    twai_event_callbacks_t user_cbs = {};
+    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);
+    twai_frame_t *tx_msgs = (twai_frame_t*)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;
@@ -237,9 +232,9 @@ TEST_CASE("twai transmit stop resume (loopback)", "[twai]")
 static void test_random_trans_generator(twai_node_handle_t node_hdl, uint32_t trans_num)
 {
     uint8_t send_pkg_ptr[TWAI_FRAME_MAX_LEN];
-    twai_frame_t tx_msg = {
-        .buffer = send_pkg_ptr,
-    };
+    twai_frame_t tx_msg = {};
+    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;
@@ -253,12 +248,12 @@ static void test_random_trans_generator(twai_node_handle_t node_hdl, uint32_t tr
 
 static IRAM_ATTR 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;
+    uint8_t *test_ctrl = (uint8_t *)user_ctx;
     uint8_t recv_pkg_ptr[TWAI_FRAME_MAX_LEN];
-    twai_frame_t rx_frame = {
-        .buffer = recv_pkg_ptr,
-        .buffer_len = TWAI_FRAME_MAX_LEN,
-    };
+    twai_frame_t rx_frame = {};
+    rx_frame.buffer = recv_pkg_ptr;
+    rx_frame.buffer_len = TWAI_FRAME_MAX_LEN;
+
     if (ESP_OK == twai_node_receive_from_isr(handle, &rx_frame)) {
         ESP_EARLY_LOGI("Recv", "RX id 0x%4x len %2d ext %d rmt %d", rx_frame.header.id, twaifd_dlc2len(rx_frame.header.dlc), rx_frame.header.ide, rx_frame.header.rtr);
         switch (test_ctrl[0]) {
@@ -279,22 +274,21 @@ TEST_CASE("twai mask 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,
-    };
+    twai_onchip_node_config_t node_config = {};
+    node_config.io_cfg.tx = TEST_TX_GPIO;
+    node_config.io_cfg.rx = TEST_TX_GPIO; // Using same pin for test without transceiver
+    node_config.bit_timing.bitrate = 1000000;
+    node_config.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH;
+    node_config.flags.enable_self_test = true;
+    node_config.flags.enable_loopback = 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,
-    };
+    twai_event_callbacks_t user_cbs = {};
+    user_cbs.on_rx_done = test_filter_rx_done_cb;
     TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl, &user_cbs, test_ctrl));
 
-    twai_mask_filter_config_t mfilter_cfg = {0};
+    twai_mask_filter_config_t mfilter_cfg = {};
     for (uint8_t i = 0; i < SOC_TWAI_MASK_FILTER_NUM; i++) {
         printf("\n--------------------------------------\n");
         test_ctrl[0] = 0;
@@ -338,12 +332,12 @@ TEST_CASE("twai mask filter (loopback)", "[twai]")
 #if !SOC_TWAI_SUPPORT_FD
 static IRAM_ATTR bool test_dual_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;
+    uint8_t *test_ctrl = (uint8_t *)user_ctx;
     uint8_t recv_pkg_ptr[TWAI_FRAME_MAX_LEN];
-    twai_frame_t rx_frame = {
-        .buffer = recv_pkg_ptr,
-        .buffer_len = TWAI_FRAME_MAX_LEN,
-    };
+    twai_frame_t rx_frame = {};
+    rx_frame.buffer = recv_pkg_ptr;
+    rx_frame.buffer_len = TWAI_FRAME_MAX_LEN;
+
     if (ESP_OK == twai_node_receive_from_isr(handle, &rx_frame)) {
         ESP_EARLY_LOGI("Recv", "RX id 0x%4x len %2d ext %d rmt %d", rx_frame.header.id, twaifd_dlc2len(rx_frame.header.dlc), rx_frame.header.ide, rx_frame.header.rtr);
         switch (test_ctrl[0]) {
@@ -363,19 +357,18 @@ TEST_CASE("twai dual 16bit mask 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,
-    };
+    twai_onchip_node_config_t node_config = {};
+    node_config.io_cfg.tx = TEST_TX_GPIO;
+    node_config.io_cfg.rx = TEST_TX_GPIO; // Using same pin for test without transceiver
+    node_config.bit_timing.bitrate = 1000000;
+    node_config.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH;
+    node_config.flags.enable_self_test = true;
+    node_config.flags.enable_loopback = true;
+
     TEST_ESP_OK(twai_new_node_onchip(&node_config, &node_hdl));
 
-    twai_event_callbacks_t user_cbs = {
-        .on_rx_done = test_dual_filter_rx_done_cb,
-    };
+    twai_event_callbacks_t user_cbs = {};
+    user_cbs.on_rx_done = test_dual_filter_rx_done_cb;
     TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl, &user_cbs, test_ctrl));
 
     printf("Testing dual filter: id1 0x%x mask1 0x%x, id2 0x%x mask2 0x%x\n", 0x020, 0x7f0, 0x013, 0x7f8);
@@ -408,7 +401,7 @@ TEST_CASE("twai dual 16bit mask filter (loopback)", "[twai]")
 #if CONFIG_TWAI_ISR_CACHE_SAFE
 static IRAM_ATTR bool test_iram_safe_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;
+    twai_frame_t *rx_frame = (twai_frame_t *)user_ctx;
     if (ESP_OK == twai_node_receive_from_isr(handle, rx_frame)) {
         esp_rom_printf(DRAM_STR("RX id 0x%x len %d ext %d brs %d esi %d\n"), rx_frame->header.id, twaifd_dlc2len(rx_frame->header.dlc), rx_frame->header.ide, rx_frame->header.brs, rx_frame->header.esi);
         rx_frame->buffer += rx_frame->buffer_len;
@@ -431,34 +424,33 @@ static void IRAM_ATTR test_wait_trans_done_cache_disable(void *args)
 TEST_CASE("twai driver cache safe (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);
+    uint8_t *send_pkg_ptr = (uint8_t *)heap_caps_malloc(TEST_TRANS_LEN, MALLOC_CAP_8BIT);
+    uint8_t *recv_pkg_ptr = (uint8_t *)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 = 50000,   //slow bitrate to ensure cache disabled before tx_queue finish
-        .tx_queue_depth = TEST_FRAME_NUM,
-        .flags.enable_loopback = true,
-        .flags.enable_self_test = true,
-    };
+    twai_onchip_node_config_t node_config = {};
+    node_config.io_cfg.tx = TEST_TX_GPIO;
+    node_config.io_cfg.rx = TEST_TX_GPIO; // Using same pin for test without transceiver
+    node_config.bit_timing.bitrate = 50000; //slow bitrate to ensure cache disabled before tx_queue finish
+    node_config.tx_queue_depth = TEST_FRAME_NUM;
+    node_config.flags.enable_loopback = true;
+    node_config.flags.enable_self_test = true;
+
     TEST_ESP_OK(twai_new_node_onchip(&node_config, &node_hdl));
 
-    twai_frame_t rx_frame = {
-        .buffer = recv_pkg_ptr,
-        .buffer_len = TEST_FRAME_LEN,
-    };
-    twai_event_callbacks_t user_cbs = {
-        .on_rx_done = test_iram_safe_rx_cb,
-    };
+    twai_frame_t rx_frame = {};
+    rx_frame.buffer = recv_pkg_ptr;
+    rx_frame.buffer_len = TEST_FRAME_LEN;
+
+    twai_event_callbacks_t user_cbs = {};
+    user_cbs.on_rx_done = test_iram_safe_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);
+    twai_frame_t *tx_msgs = (twai_frame_t *)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;
diff --git a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.c b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.cpp
similarity index 76%
rename from components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.c
rename to components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.cpp
index 6168d990fb..2994873634 100644
--- a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.c
+++ b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.cpp
@@ -15,16 +15,15 @@
 #include "esp_twai.h"
 #include "esp_twai_onchip.h"
 
-#define TEST_TX_GPIO                4
-#define TEST_RX_GPIO                5
+#define TEST_TX_GPIO                GPIO_NUM_4
+#define TEST_RX_GPIO                GPIO_NUM_5
 #define TEST_TWAI_QUEUE_DEPTH       5
 
 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,
-    };
+    twai_frame_t tx_msg = {};
+    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;
@@ -39,12 +38,12 @@ static void test_random_trans_generator(twai_node_handle_t node_hdl, uint32_t tr
 
 static IRAM_ATTR bool test_range_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;
+    uint8_t *test_ctrl = (uint8_t *)user_ctx;
     uint8_t recv_pkg_ptr[TWAIFD_FRAME_MAX_LEN];
-    twai_frame_t rx_frame = {
-        .buffer = recv_pkg_ptr,
-        .buffer_len = TWAIFD_FRAME_MAX_LEN,
-    };
+    twai_frame_t rx_frame = {};
+    rx_frame.buffer = recv_pkg_ptr;
+    rx_frame.buffer_len = TWAIFD_FRAME_MAX_LEN;
+
     if (ESP_OK == twai_node_receive_from_isr(handle, &rx_frame)) {
         ESP_EARLY_LOGI("Recv", "RX id 0x%4x len %2d ext %d rmt %d fd %d", rx_frame.header.id, twaifd_dlc2len(rx_frame.header.dlc), rx_frame.header.ide, rx_frame.header.rtr, rx_frame.header.fdf);
         switch (test_ctrl[0]) {
@@ -64,35 +63,33 @@ TEST_CASE("twai range 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,
-    };
+    twai_onchip_node_config_t node_config = {};
+    node_config.io_cfg.tx = TEST_TX_GPIO;
+    node_config.io_cfg.rx = TEST_TX_GPIO; // Using same pin for test without transceiver
+    node_config.bit_timing.bitrate = 1000000;
+    node_config.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH;
+    node_config.flags.enable_self_test = true;
+    node_config.flags.enable_loopback = true;
+
     TEST_ESP_OK(twai_new_node_onchip(&node_config, &node_hdl));
 
-    twai_event_callbacks_t user_cbs = {
-        .on_rx_done = test_range_filter_rx_done_cb,
-    };
+    twai_event_callbacks_t user_cbs = {};
+    user_cbs.on_rx_done = test_range_filter_rx_done_cb;
     TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl, &user_cbs, test_ctrl));
 
     // disable mask filter 0 which enabled by default
-    twai_mask_filter_config_t mfilter_cfg = {
-        .id = 0xFFFFFFFF,
-        .mask = 0xFFFFFFFF,
-    };
+    twai_mask_filter_config_t mfilter_cfg = {};
+    mfilter_cfg.id = 0xFFFFFFFF;
+    mfilter_cfg.mask = 0xFFFFFFFF;
     TEST_ESP_OK(twai_node_config_mask_filter(node_hdl, 0, &mfilter_cfg));
 
     test_ctrl[0] = 0;
     test_ctrl[1] = 0;
-    twai_range_filter_config_t rfilter_cfg = {
-        .range_low = 0x0a,
-        .range_high = 0x15,
-        .is_ext = false,
-    };
+    twai_range_filter_config_t rfilter_cfg = {};
+    rfilter_cfg.range_low = 0x0a;
+    rfilter_cfg.range_high = 0x15;
+    rfilter_cfg.is_ext = false;
+
     printf("Config range filter 0: 0x%lx - 0x%lx\n", rfilter_cfg.range_low, rfilter_cfg.range_high);
     TEST_ESP_OK(twai_node_config_range_filter(node_hdl, 0, &rfilter_cfg));
     TEST_ESP_OK(twai_node_enable(node_hdl));
@@ -117,7 +114,7 @@ TEST_CASE("twai range filter (loopback)", "[twai]")
 #define TEST_TRANS_TIME_BUF_LEN              20000
 static IRAM_ATTR bool test_fd_trans_time_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;
+    twai_frame_t *rx_frame = (twai_frame_t *)user_ctx;
     uint32_t data_len;
     if (ESP_OK == twai_node_receive_from_isr(handle, rx_frame)) {
         data_len = MIN(twaifd_dlc2len(rx_frame->header.dlc), rx_frame->buffer_len);
@@ -134,27 +131,28 @@ static IRAM_ATTR bool test_fd_trans_time_rx_cb(twai_node_handle_t handle, const
 TEST_CASE("twai fd transmit time (loopback)", "[twai]")
 {
     // prepare test memory
-    uint8_t *send_pkg_ptr = heap_caps_malloc(TEST_TRANS_TIME_BUF_LEN, MALLOC_CAP_8BIT);
-    uint8_t *recv_pkg_ptr = heap_caps_malloc(TEST_TRANS_TIME_BUF_LEN, MALLOC_CAP_8BIT);
+    uint8_t *send_pkg_ptr = (uint8_t*)heap_caps_malloc(TEST_TRANS_TIME_BUF_LEN, MALLOC_CAP_8BIT);
+    uint8_t *recv_pkg_ptr = (uint8_t*)heap_caps_malloc(TEST_TRANS_TIME_BUF_LEN, MALLOC_CAP_8BIT);
     TEST_ASSERT(send_pkg_ptr && recv_pkg_ptr);
 
     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,
-    };
+    twai_onchip_node_config_t node_config = {};
+    node_config.io_cfg.tx = TEST_TX_GPIO;
+    node_config.io_cfg.rx = TEST_TX_GPIO; // Using same pin for test without transceiver
+    node_config.bit_timing.bitrate = 1000000;
+    node_config.data_timing.bitrate = 4000000;
+    node_config.data_timing.ssp_permill = 700; // ssp 70.0%
+    node_config.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH;
+    node_config.flags.enable_self_test = true;
+    node_config.flags.enable_loopback = true;
+
     TEST_ESP_OK(twai_new_node_onchip(&node_config, &node_hdl));
 
-    twai_frame_t rx_frame = {.buffer_len = 64};
-    twai_event_callbacks_t user_cbs = {
-        .on_rx_done = test_fd_trans_time_rx_cb,
-    };
+    twai_frame_t rx_frame = {};
+    rx_frame.buffer_len = 64;
+    twai_event_callbacks_t user_cbs = {};
+    user_cbs.on_rx_done = test_fd_trans_time_rx_cb;
+
     TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl, &user_cbs, &rx_frame));
     TEST_ESP_OK(twai_node_enable(node_hdl));
     printf("%-12s %-14s %-14s %-7s %-15s %s\n", "pkg_len", "frame_len", "frame_num", "brs", "trans_time/ms", "result");
@@ -168,7 +166,7 @@ TEST_CASE("twai fd transmit time (loopback)", "[twai]")
         rx_frame.buffer = recv_pkg_ptr;
         rx_frame.buffer_len = frame_len;
         memset(recv_pkg_ptr, 0xff, TEST_TRANS_TIME_BUF_LEN);
-        twai_frame_t *tx_msgs = heap_caps_calloc(trans_num, sizeof(twai_frame_t), MALLOC_CAP_8BIT);
+        twai_frame_t *tx_msgs = (twai_frame_t *)heap_caps_calloc(trans_num, sizeof(twai_frame_t), MALLOC_CAP_8BIT);
         TEST_ASSERT(tx_msgs);
         time1 = esp_timer_get_time();
         for (uint32_t tx_cnt = 0; tx_cnt < trans_num; tx_cnt++) {
diff --git a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_network.c b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_network.cpp
similarity index 69%
rename from components/esp_driver_twai/test_apps/test_twai/main/test_twai_network.c
rename to components/esp_driver_twai/test_apps/test_twai/main/test_twai_network.cpp
index 0d0a015269..609c792436 100644
--- a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_network.c
+++ b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_network.cpp
@@ -12,8 +12,8 @@
 #include "esp_twai.h"
 #include "esp_twai_onchip.h"
 
-#define TEST_TX_GPIO                4
-#define TEST_RX_GPIO                5
+#define TEST_TX_GPIO                GPIO_NUM_4
+#define TEST_RX_GPIO                GPIO_NUM_5
 
 static bool IRAM_ATTR test_listen_only_rx_cb(twai_node_handle_t handle, const twai_rx_done_event_data_t *edata, void *user_ctx)
 {
@@ -28,27 +28,25 @@ static bool IRAM_ATTR test_listen_only_rx_cb(twai_node_handle_t handle, const tw
 TEST_CASE("twai_listen_only", "[twai_net]")
 {
     twai_node_handle_t node_hdl;
-    twai_onchip_node_config_t node_config = {
-        .io_cfg.tx = TEST_TX_GPIO,
-        .io_cfg.rx = TEST_RX_GPIO,
-        .bit_timing.bitrate = 250000,
-        .tx_queue_depth = 3,
-        .flags.enable_listen_only = true,
-    };
+    twai_onchip_node_config_t node_config = {};
+    node_config.io_cfg.tx = TEST_TX_GPIO;
+    node_config.io_cfg.rx = TEST_RX_GPIO;
+    node_config.bit_timing.bitrate = 250000;
+    node_config.tx_queue_depth = 3;
+    node_config.flags.enable_listen_only = true;
+
     TEST_ESP_OK(twai_new_node_onchip(&node_config, &node_hdl));
     ESP_LOGI("Test", "driver installed");
 
     uint8_t rx_buffer[8] = {0};
-    twai_frame_t rx_frame = {
-        .buffer = rx_buffer,
-        .buffer_len = sizeof(rx_buffer),
-    };
+    twai_frame_t rx_frame = {};
+    rx_frame.buffer = rx_buffer;
+    rx_frame.buffer_len = sizeof(rx_buffer);
     uint8_t rx_msg_cnt = 0;
     void *user_data[2] = {&rx_msg_cnt, &rx_frame};
 
-    twai_event_callbacks_t user_cbs = {
-        .on_rx_done = test_listen_only_rx_cb,
-    };
+    twai_event_callbacks_t user_cbs = {};
+    user_cbs.on_rx_done = test_listen_only_rx_cb;
     TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl, &user_cbs, user_data));
     TEST_ESP_OK(twai_node_enable(node_hdl));
 
@@ -69,36 +67,34 @@ TEST_CASE("twai_listen_only", "[twai_net]")
 TEST_CASE("twai_remote_request", "[twai_net]")
 {
     twai_node_handle_t node_hdl;
-    twai_onchip_node_config_t node_config = {
-        .io_cfg.tx = TEST_TX_GPIO,
-        .io_cfg.rx = TEST_RX_GPIO,
-        .bit_timing.bitrate = 250000,
-        .fail_retry_cnt = -1,   // retry forever if send remote frame failed
-        .tx_queue_depth = 3,
-    };
+    twai_onchip_node_config_t node_config = {};
+    node_config.io_cfg.tx = TEST_TX_GPIO;
+    node_config.io_cfg.rx = TEST_RX_GPIO;
+    node_config.bit_timing.bitrate = 250000;
+    node_config.tx_queue_depth = 3;
+    node_config.fail_retry_cnt = -1; // retry forever if send remote frame failed
+
     TEST_ESP_OK(twai_new_node_onchip(&node_config, &node_hdl));
     ESP_LOGI("Test", "driver installed");
 
     uint8_t rx_buffer[8] = {0};
-    twai_frame_t rx_frame = {
-        .buffer = rx_buffer,
-        .buffer_len = sizeof(rx_buffer),
-    };
+    twai_frame_t rx_frame = {};
+    rx_frame.buffer = rx_buffer;
+    rx_frame.buffer_len = sizeof(rx_buffer);
     uint8_t rx_msg_cnt = 0;
     void *user_data[2] = {&rx_msg_cnt, &rx_frame};
 
-    twai_event_callbacks_t user_cbs = {
-        .on_rx_done = test_listen_only_rx_cb,
-    };
+    twai_event_callbacks_t user_cbs = {};
+    user_cbs.on_rx_done = test_listen_only_rx_cb;
     TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl, &user_cbs, user_data));
     TEST_ESP_OK(twai_node_enable(node_hdl));
 
-    twai_frame_t tx_frame = {
-        .header.id = 0x123,
-        .header.dlc = 8,
-        .header.rtr = true,
-        .header.ide = true,
-    };
+    twai_frame_t tx_frame = {};
+    tx_frame.header.id = 0x123;
+    tx_frame.header.dlc = 8;
+    tx_frame.header.ide = true;
+    tx_frame.header.rtr = true;
+
     TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_frame, 1000));
     ESP_LOGI("Test", "send remote frame");
 
diff --git a/components/soc/esp32/include/soc/clk_tree_defs.h b/components/soc/esp32/include/soc/clk_tree_defs.h
index 52abdd632f..739e8b39aa 100644
--- a/components/soc/esp32/include/soc/clk_tree_defs.h
+++ b/components/soc/esp32/include/soc/clk_tree_defs.h
@@ -380,7 +380,7 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of TWAI
  */
-#define SOC_TWAI_CLKS {SOC_MOD_CLK_APB}
+#define SOC_TWAI_CLKS {(soc_periph_twai_clk_src_t)SOC_MOD_CLK_APB}
 
 /**
  * @brief TWAI clock source
diff --git a/components/soc/esp32c3/include/soc/clk_tree_defs.h b/components/soc/esp32c3/include/soc/clk_tree_defs.h
index 4b3076897e..e7ef68ce16 100644
--- a/components/soc/esp32c3/include/soc/clk_tree_defs.h
+++ b/components/soc/esp32c3/include/soc/clk_tree_defs.h
@@ -324,7 +324,7 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of TWAI
  */
-#define SOC_TWAI_CLKS {SOC_MOD_CLK_APB}
+#define SOC_TWAI_CLKS {(soc_periph_twai_clk_src_t)SOC_MOD_CLK_APB}
 
 /**
  * @brief TWAI clock source
diff --git a/components/soc/esp32c5/include/soc/clk_tree_defs.h b/components/soc/esp32c5/include/soc/clk_tree_defs.h
index 52e126865c..0073cd58d5 100644
--- a/components/soc/esp32c5/include/soc/clk_tree_defs.h
+++ b/components/soc/esp32c5/include/soc/clk_tree_defs.h
@@ -440,7 +440,7 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of TWAI
  */
-#define SOC_TWAI_CLKS {SOC_MOD_CLK_XTAL, SOC_MOD_CLK_PLL_F80M}
+#define SOC_TWAI_CLKS {(soc_periph_twai_clk_src_t)SOC_MOD_CLK_XTAL, (soc_periph_twai_clk_src_t)SOC_MOD_CLK_PLL_F80M}
 
 /**
  * @brief TWAI clock source
diff --git a/components/soc/esp32c6/include/soc/clk_tree_defs.h b/components/soc/esp32c6/include/soc/clk_tree_defs.h
index d04110994f..af444c530e 100644
--- a/components/soc/esp32c6/include/soc/clk_tree_defs.h
+++ b/components/soc/esp32c6/include/soc/clk_tree_defs.h
@@ -419,7 +419,7 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of TWAI
  */
-#define SOC_TWAI_CLKS {SOC_MOD_CLK_XTAL}
+#define SOC_TWAI_CLKS {(soc_periph_twai_clk_src_t)SOC_MOD_CLK_XTAL}
 
 /**
  * @brief TWAI clock source
diff --git a/components/soc/esp32h2/include/soc/clk_tree_defs.h b/components/soc/esp32h2/include/soc/clk_tree_defs.h
index 4d1959bad2..7de89a1d47 100644
--- a/components/soc/esp32h2/include/soc/clk_tree_defs.h
+++ b/components/soc/esp32h2/include/soc/clk_tree_defs.h
@@ -413,7 +413,7 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of TWAI
  */
-#define SOC_TWAI_CLKS {SOC_MOD_CLK_XTAL}
+#define SOC_TWAI_CLKS {(soc_periph_twai_clk_src_t)SOC_MOD_CLK_XTAL}
 
 /**
  * @brief TWAI clock source
diff --git a/components/soc/esp32h21/include/soc/clk_tree_defs.h b/components/soc/esp32h21/include/soc/clk_tree_defs.h
index 0e29e70840..b86d7c6a40 100644
--- a/components/soc/esp32h21/include/soc/clk_tree_defs.h
+++ b/components/soc/esp32h21/include/soc/clk_tree_defs.h
@@ -295,7 +295,7 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of TWAI
  */
-#define SOC_TWAI_CLKS {SOC_MOD_CLK_XTAL}
+#define SOC_TWAI_CLKS {(soc_periph_twai_clk_src_t)SOC_MOD_CLK_XTAL}
 
 /**
  * @brief TWAI clock source
diff --git a/components/soc/esp32p4/include/soc/clk_tree_defs.h b/components/soc/esp32p4/include/soc/clk_tree_defs.h
index 165942b874..11c07df84f 100644
--- a/components/soc/esp32p4/include/soc/clk_tree_defs.h
+++ b/components/soc/esp32p4/include/soc/clk_tree_defs.h
@@ -611,7 +611,7 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of TWAI
  */
-#define SOC_TWAI_CLKS {SOC_MOD_CLK_XTAL}
+#define SOC_TWAI_CLKS {(soc_periph_twai_clk_src_t)SOC_MOD_CLK_XTAL}
 
 /**
  * @brief TWAI clock source
diff --git a/components/soc/esp32s2/include/soc/clk_tree_defs.h b/components/soc/esp32s2/include/soc/clk_tree_defs.h
index b8862cecb3..78582e991c 100644
--- a/components/soc/esp32s2/include/soc/clk_tree_defs.h
+++ b/components/soc/esp32s2/include/soc/clk_tree_defs.h
@@ -368,7 +368,7 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of TWAI
  */
-#define SOC_TWAI_CLKS {SOC_MOD_CLK_APB}
+#define SOC_TWAI_CLKS {(soc_periph_twai_clk_src_t)SOC_MOD_CLK_APB}
 
 /**
  * @brief TWAI clock source
diff --git a/components/soc/esp32s3/include/soc/clk_tree_defs.h b/components/soc/esp32s3/include/soc/clk_tree_defs.h
index dff4a61339..ebec08a9a9 100644
--- a/components/soc/esp32s3/include/soc/clk_tree_defs.h
+++ b/components/soc/esp32s3/include/soc/clk_tree_defs.h
@@ -400,7 +400,7 @@ typedef enum {
 /**
  * @brief Array initializer for all supported clock sources of TWAI
  */
-#define SOC_TWAI_CLKS {SOC_MOD_CLK_APB}
+#define SOC_TWAI_CLKS {(soc_periph_twai_clk_src_t)SOC_MOD_CLK_APB}
 
 /**
  * @brief TWAI clock source