TWAI is not working for ESP32-S3

[ProfFan]

The TWAI peripheral does not work both with blocking and async mode.

Nothing is transmitted and received, transmitting always "succeed" even without nothing on the bus, which under normal TWAI mode should be a bus error.

[ProfFan]

A simple test program with transceivers and nothing on the CAN bus yields:

[INFO] - Transmitting a frame
[INFO] - CAN IS_BUS_OFF: false
[INFO] - CAN TX_ERROR: 0
[INFO] - Transmitted a frame
[INFO] - Transmitting a frame
[INFO] - CAN IS_BUS_OFF: false
[INFO] - CAN TX_ERROR: 0
<program stuck on `transmit_async`>

[ProfFan]

I tested the CAN RX on a live bus (1Mbps) with transceiver. I confirmed that RX of the transceiver has continuous data, but a simple test program with no filter receiver nothing on the bus.

    // The speed of the CAN bus.
    const CAN_BAUDRATE: twai::BaudRate = twai::BaudRate::B1000K;

    // Begin configuring the TWAI peripheral. The peripheral is in a reset like
    // state that prevents transmission but allows configuration.
    let mut can_config = twai::TwaiConfiguration::new_async(
        peripherals.TWAI0,
        can_tx_pin,
        can_rx_pin,
        &clocks,
        CAN_BAUDRATE,
    );

    let mut can: Twai<_, Async> = can_config.start();

    let rx_data = can.receive_async().await;

        match rx_data {
            Ok(frame) => {
                defmt::info!("Received a frame:");
                print_frame(&frame);
            }
            Err(e) => {
                defmt::error!("Receive error: {:?}", defmt::Debug2Format(&e));
            }
        }

[ProfFan]

I tried whatever I can to debug this issue, the most like cause is the register blocks are not correctly configured.