diff --git a/bsp/imxrt/libraries/MIMXRT1170/MIMXRT1176/drivers/fsl_flexcan.c b/bsp/imxrt/libraries/MIMXRT1170/MIMXRT1176/drivers/fsl_flexcan.c
index 1f495af526a09b60ddba628723d1ddba8d1d2389..2d2ce4f78af23e8b97e6a8e45508a3372ece333f 100644
--- a/bsp/imxrt/libraries/MIMXRT1170/MIMXRT1176/drivers/fsl_flexcan.c
+++ b/bsp/imxrt/libraries/MIMXRT1170/MIMXRT1176/drivers/fsl_flexcan.c
@@ -3475,12 +3475,11 @@ void FLEXCAN_TransferCreateHandle(CAN_Type *base,
     /* Get instance from peripheral base address. */
     instance = (uint8_t)FLEXCAN_GetInstance(base);
 
-    /* Save the context in global variables to support the double weak mechanism. */
-    s_flexcanHandle[instance] = handle;
-
     /* Register Callback function. */
     handle->callback = callback;
     handle->userData = userData;
+    /* Save the context in global variables to support the double weak mechanism. */
+    s_flexcanHandle[instance] = handle;
 
     s_flexcanIsr = FLEXCAN_TransferHandleIRQ;
 
diff --git a/bsp/imxrt/libraries/drivers/drv_can.c b/bsp/imxrt/libraries/drivers/drv_can.c
index 4b6a26f951c343bcbb877b520c860ea077d3347d..d360c5f432a717a40db86067d5ca117dea8ca530 100644
--- a/bsp/imxrt/libraries/drivers/drv_can.c
+++ b/bsp/imxrt/libraries/drivers/drv_can.c
@@ -29,6 +29,10 @@
 static flexcan_frame_t frame[RX_MB_COUNT];    /* one frame buffer per RX MB */
 static rt_uint32_t filter_mask = 0;
 
+#ifdef SOC_IMXRT1170_SERIES
+#define USE_IMPROVED_TIMING_CONFIG (1U)
+#endif
+
 enum
 {
 #ifdef BSP_USING_CAN1
@@ -102,13 +106,16 @@ uint32_t GetCanSrcFreq(CAN_Type *can_base)
     return freq;
 }
 
+#ifdef SOC_IMXRT1170_SERIES
+static void flexcan_callback(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint64_t result, void *userData)
+#else
 static void flexcan_callback(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData)
+#endif
 {
     struct imxrt_can *can;
     flexcan_mb_transfer_t rxXfer;
 
     can = (struct imxrt_can *)userData;
-
     switch (status)
     {
     case kStatus_FLEXCAN_RxIdle:
@@ -171,6 +178,22 @@ static rt_err_t can_cfg(struct rt_can_device *can_dev, struct can_configure *cfg
     case RT_CAN_MODE_LOOPBACKANLISTEN:
         break;
     }
+
+#ifdef SOC_IMXRT1170_SERIES
+    flexcan_timing_config_t timing_config;
+    memset(&timing_config, 0, sizeof(flexcan_timing_config_t));
+
+    if(FLEXCAN_CalculateImprovedTimingValues(can->base, config.baudRate, GetCanSrcFreq(can->base), &timing_config))
+    {
+        /* Update the improved timing configuration*/
+        memcpy(&(config.timingConfig), &timing_config, sizeof(flexcan_timing_config_t));
+    }
+    else
+    {
+        LOG_E("No found Improved Timing Configuration. Just used default configuration\n");
+    }
+#endif
+
     FLEXCAN_Init(can->base, &config, GetCanSrcFreq(can->base));
     FLEXCAN_TransferCreateHandle(can->base, &can->handle, flexcan_callback, can);
     /* init RX_MB_COUNT RX MB to default status */