Fix TWAI on ESP32

[bugadani]

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Submission Checklist 📝

• I have updated existing examples or added new ones (if applicable).
• I have used cargo xtask fmt-packages command to ensure that all changed code is formatted correctly.
• My changes were added to the CHANGELOG.md in the proper section.
• I have added necessary changes to user code to the Migration Guide.
• My changes are in accordance to the esp-rs API guidelines

Extra:

• I have read the CONTRIBUTING.md guide and followed its instructions.

Pull Request Details 📖

Description

A few issues here and there

cc #324

Testing

Ran HIL test locally on both 32 and S2.

[MabezDev]

LGTM, thanks for tackling this!

I noticed you added self test example to the issue checklist, do you see much value in doing that? We already have an example, and HIL tests that exercise the self test mode.

[bugadani]

I noticed you added self test example to the issue checklist, do you see much value in doing that?

What do you mean I added it? 🤔

[MabezDev]

Ah sorry this diff made it look like you added it and I didn't go back and check the other edits, not sure why my diff is different 🤷

[jessebraham]

Thanks!