diff --git a/arch/arm/src/at32/at32_can.c b/arch/arm/src/at32/at32_can.c
index 89b6dc43dab..1865f9cf97b 100644
--- a/arch/arm/src/at32/at32_can.c
+++ b/arch/arm/src/at32/at32_can.c
@@ -973,7 +973,7 @@ static int at32can_ioctl(struct can_dev_s *dev, int cmd,
           uint32_t regval;
 
           DEBUGASSERT(bt != NULL);
-          DEBUGASSERT(bt->bt_baud < AT32_PCLK1_FREQUENCY);
+          DEBUGASSERT(bt->bt_baud > 0 && bt->bt_baud < AT32_PCLK1_FREQUENCY);
           DEBUGASSERT(bt->bt_sjw > 0 && bt->bt_sjw <= 4);
           DEBUGASSERT(bt->bt_tseg1 > 0 && bt->bt_tseg1 <= 16);
           DEBUGASSERT(bt->bt_tseg2 > 0 && bt->bt_tseg2 <=  8);
diff --git a/arch/arm/src/common/stm32/stm32_can_m3m4_v1.c b/arch/arm/src/common/stm32/stm32_can_m3m4_v1.c
index 90959870c49..10fe28be2c8 100644
--- a/arch/arm/src/common/stm32/stm32_can_m3m4_v1.c
+++ b/arch/arm/src/common/stm32/stm32_can_m3m4_v1.c
@@ -971,7 +971,8 @@ static int stm32can_ioctl(struct can_dev_s *dev, int cmd,
           uint32_t regval;
 
           DEBUGASSERT(bt != NULL);
-          DEBUGASSERT(bt->bt_baud < STM32_PCLK1_FREQUENCY);
+          DEBUGASSERT(bt->bt_baud > 0 &&
+            bt->bt_baud < STM32_PCLK1_FREQUENCY);
           DEBUGASSERT(bt->bt_sjw > 0 && bt->bt_sjw <= 4);
           DEBUGASSERT(bt->bt_tseg1 > 0 && bt->bt_tseg1 <= 16);
           DEBUGASSERT(bt->bt_tseg2 > 0 && bt->bt_tseg2 <=  8);
diff --git a/arch/arm/src/common/stm32/stm32_fdcan_m0_v1.c b/arch/arm/src/common/stm32/stm32_fdcan_m0_v1.c
index 8c72dd6b209..1cb8fb9a9a4 100644
--- a/arch/arm/src/common/stm32/stm32_fdcan_m0_v1.c
+++ b/arch/arm/src/common/stm32/stm32_fdcan_m0_v1.c
@@ -1832,7 +1832,8 @@ static int fdcan_ioctl(struct can_dev_s *dev, int cmd, unsigned long arg)
           uint8_t state;
 
           DEBUGASSERT(bt != NULL);
-          DEBUGASSERT(bt->bt_baud < STM32_FDCANCLK_FREQUENCY);
+          DEBUGASSERT(bt->bt_baud > 0 &&
+            bt->bt_baud < STM32_FDCANCLK_FREQUENCY);
           DEBUGASSERT(bt->bt_sjw > 0 && bt->bt_sjw <= 16);
           DEBUGASSERT(bt->bt_tseg1 > 1 && bt->bt_tseg1 <= 64);
           DEBUGASSERT(bt->bt_tseg2 > 0 && bt->bt_tseg2 <= 16);
diff --git a/arch/arm/src/common/stm32/stm32_fdcan_m3m4_v1.c b/arch/arm/src/common/stm32/stm32_fdcan_m3m4_v1.c
index 4e23a563b1c..300545fefee 100644
--- a/arch/arm/src/common/stm32/stm32_fdcan_m3m4_v1.c
+++ b/arch/arm/src/common/stm32/stm32_fdcan_m3m4_v1.c
@@ -2136,7 +2136,8 @@ static int fdcan_ioctl(struct can_dev_s *dev, int cmd, unsigned long arg)
           uint8_t state;
 
           DEBUGASSERT(bt != NULL);
-          DEBUGASSERT(bt->bt_baud < STM32_FDCANCLK_FREQUENCY);
+          DEBUGASSERT(bt->bt_baud > 0 &&
+            bt->bt_baud < STM32_FDCANCLK_FREQUENCY);
           DEBUGASSERT(bt->bt_sjw > 0 && bt->bt_sjw <= 16);
           DEBUGASSERT(bt->bt_tseg1 > 1 && bt->bt_tseg1 <= 64);
           DEBUGASSERT(bt->bt_tseg2 > 0 && bt->bt_tseg2 <= 16);
diff --git a/arch/arm/src/sama5/sam_mcan.c b/arch/arm/src/sama5/sam_mcan.c
index 7860c0a5afa..0b515fec719 100644
--- a/arch/arm/src/sama5/sam_mcan.c
+++ b/arch/arm/src/sama5/sam_mcan.c
@@ -2721,7 +2721,8 @@ static int mcan_ioctl(struct can_dev_s *dev, int cmd, unsigned long arg)
           uint8_t state;
 
           DEBUGASSERT(bt != NULL);
-          DEBUGASSERT(bt->bt_baud < SAMA5_MCANCLK_FREQUENCY);
+          DEBUGASSERT(bt->bt_baud > 0 &&
+            bt->bt_baud < SAMA5_MCANCLK_FREQUENCY);
           DEBUGASSERT(bt->bt_sjw > 0 && bt->bt_sjw <= 16);
           DEBUGASSERT(bt->bt_tseg1 > 1 && bt->bt_tseg1 <= 64);
           DEBUGASSERT(bt->bt_tseg2 > 0 && bt->bt_tseg2 <= 16);
diff --git a/arch/arm/src/samv7/sam_mcan.c b/arch/arm/src/samv7/sam_mcan.c
index 847a25d31c5..164bba5d0a4 100644
--- a/arch/arm/src/samv7/sam_mcan.c
+++ b/arch/arm/src/samv7/sam_mcan.c
@@ -2789,7 +2789,8 @@ static int mcan_ioctl(struct can_dev_s *dev, int cmd, unsigned long arg)
           uint8_t state;
 
           DEBUGASSERT(bt != NULL);
-          DEBUGASSERT(bt->bt_baud < SAMV7_MCANCLK_FREQUENCY);
+          DEBUGASSERT(bt->bt_baud > 0  &&
+            bt->bt_baud < SAMV7_MCANCLK_FREQUENCY);
           DEBUGASSERT(bt->bt_sjw > 0 && bt->bt_sjw <= 16);
           DEBUGASSERT(bt->bt_tseg1 > 1 && bt->bt_tseg1 <= 64);
           DEBUGASSERT(bt->bt_tseg2 > 0 && bt->bt_tseg2 <= 16);
diff --git a/arch/arm/src/stm32f7/stm32_can.c b/arch/arm/src/stm32f7/stm32_can.c
index 2d571c61b8d..2df5a048649 100644
--- a/arch/arm/src/stm32f7/stm32_can.c
+++ b/arch/arm/src/stm32f7/stm32_can.c
@@ -912,7 +912,8 @@ static int stm32can_ioctl(struct can_dev_s *dev, int cmd,
           uint32_t regval;
 
           DEBUGASSERT(bt != NULL);
-          DEBUGASSERT(bt->bt_baud < STM32_PCLK1_FREQUENCY);
+          DEBUGASSERT(bt->bt_baud > 0 &&
+            bt->bt_baud < STM32_PCLK1_FREQUENCY);
           DEBUGASSERT(bt->bt_sjw > 0 && bt->bt_sjw <= 4);
           DEBUGASSERT(bt->bt_tseg1 > 0 && bt->bt_tseg1 <= 16);
           DEBUGASSERT(bt->bt_tseg2 > 0 && bt->bt_tseg2 <=  8);
diff --git a/arch/arm/src/stm32h5/stm32_fdcan.c b/arch/arm/src/stm32h5/stm32_fdcan.c
index 639f0e7e1d9..1be0ff65cbc 100644
--- a/arch/arm/src/stm32h5/stm32_fdcan.c
+++ b/arch/arm/src/stm32h5/stm32_fdcan.c
@@ -2007,7 +2007,8 @@ static int fdcan_ioctl(struct can_dev_s *dev, int cmd, unsigned long arg)
           uint8_t state;
 
           DEBUGASSERT(bt != NULL);
-          DEBUGASSERT(bt->bt_baud < STM32_FDCANCLK_FREQUENCY);
+          DEBUGASSERT(bt->bt_baud > 0 &&
+            bt->bt_baud < STM32_FDCANCLK_FREQUENCY);
           DEBUGASSERT(bt->bt_sjw > 0 && bt->bt_sjw <= 16);
           DEBUGASSERT(bt->bt_tseg1 > 1 && bt->bt_tseg1 <= 64);
           DEBUGASSERT(bt->bt_tseg2 > 0 && bt->bt_tseg2 <= 16);
diff --git a/arch/arm/src/stm32l4/stm32l4_can.c b/arch/arm/src/stm32l4/stm32l4_can.c
index 9d6231f4f1f..84225c4cc56 100644
--- a/arch/arm/src/stm32l4/stm32l4_can.c
+++ b/arch/arm/src/stm32l4/stm32l4_can.c
@@ -848,7 +848,8 @@ static int stm32l4can_ioctl(struct can_dev_s *dev, int cmd,
           uint32_t regval;
 
           DEBUGASSERT(bt != NULL);
-          DEBUGASSERT(bt->bt_baud < STM32_PCLK1_FREQUENCY);
+          DEBUGASSERT(bt->bt_baud > 0 &&
+            bt->bt_baud < STM32_PCLK1_FREQUENCY);
           DEBUGASSERT(bt->bt_sjw > 0 && bt->bt_sjw <= 4);
           DEBUGASSERT(bt->bt_tseg1 > 0 && bt->bt_tseg1 <= 16);
           DEBUGASSERT(bt->bt_tseg2 > 0 && bt->bt_tseg2 <=  8);
diff --git a/arch/arm/src/tiva/common/tiva_can.c b/arch/arm/src/tiva/common/tiva_can.c
index 57e5a96cec7..a28eb70f3e3 100644
--- a/arch/arm/src/tiva/common/tiva_can.c
+++ b/arch/arm/src/tiva/common/tiva_can.c
@@ -971,11 +971,13 @@ static int tivacan_ioctl(struct can_dev_s *dev, int cmd,
           timing.tseg1 = bt->bt_tseg1;
           timing.tseg2 = bt->bt_tseg2;
           timing.sjw   = bt->bt_sjw;
+          DEBUGASSERT(timing.tseg1 <= 16 && timing.tseg1 >= 1);
+          DEBUGASSERT(timing.tseg2 <= 8 && timing.tseg2 >= 1);
+          DEBUGASSERT(timing.sjw <= 4 && timing.sjw >= 1);
+          DEBUGASSERT(bt->bt_baud > 0);
+
           timing.prescaler = SYSCLK_FREQUENCY
             / (bt->bt_baud * (bt->bt_tseg1 + bt->bt_tseg2 + 1));
-          DEBUGASSERT(timing.tseg1 <= 16 && timing.tseg1 >= 1);
-          DEBUGASSERT(timing.tseg2 <= 8 && timing.tseg1 >= 1);
-          DEBUGASSERT(timing.sjw <= 4 && timing.sjw >= 1);
           DEBUGASSERT(timing.prescaler <= 1024 && timing.prescaler >= 1);
 
           tivacan_bittiming_set(dev, &timing);
diff --git a/drivers/can/mcp2515.c b/drivers/can/mcp2515.c
index 3246da490d3..e31b49fbee3 100644
--- a/drivers/can/mcp2515.c
+++ b/drivers/can/mcp2515.c
@@ -1526,7 +1526,8 @@ static int mcp2515_ioctl(FAR struct can_dev_s *dev, int cmd,
           uint8_t regval;
 
           DEBUGASSERT(bt != NULL);
-          DEBUGASSERT(bt->bt_baud < MCP2515_CANCLK_FREQUENCY);
+          DEBUGASSERT(bt->bt_baud > 0 &&
+            bt->bt_baud < MCP2515_CANCLK_FREQUENCY);
           DEBUGASSERT(bt->bt_sjw > 0 && bt->bt_sjw <= 4);
           DEBUGASSERT(bt->bt_tseg1 > 1 && bt->bt_tseg1 <= 16);
           DEBUGASSERT(bt->bt_tseg2 > 1 && bt->bt_tseg2 <= 8);