ESP32 (ESP-IDF) "driver/twai.h" CAN Data Transmission is working but Receive function is not working using CAN/TWAI - esp32

Question

I saw a YouTube video with someone who used a similar code, and it was working perfectly for him (YouTube Video: link: https://youtu.be/bxzWuIqfn9Y). He used "driver/can.h" which has been removed from v5.0 of ESP-IDF because CAN and TWAI are the same.
More details:
Issue raised on GitHub: https://github.com/espressif/esp-idf/issues/10757#issue-1582253298
IDF version used: v5.0 and v4.4.4
Operating System used: Windows
IDE used to program and flash code: VS Code IDE
This is my code:
#include "driver/gpio.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "stdio.h"
#include "stdlib.h"
#include "driver/twai.h"
void twai_setup_and_install(){
//Initialize configuration structures using macro initializers
twai_general_config_t g_config = {
.mode = TWAI_MODE_NORMAL,
.tx_io = GPIO_NUM_5,
.rx_io = GPIO_NUM_4,
.clkout_io = TWAI_IO_UNUSED,
.bus_off_io = TWAI_IO_UNUSED,
.tx_queue_len = 5,
.rx_queue_len = 5,
.alerts_enabled = TWAI_ALERT_NONE,
.clkout_divider = 0
};
twai_timing_config_t t_config = TWAI_TIMING_CONFIG_500KBITS();
twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
// Install TWAI driver
if (twai_driver_install(&g_config, &t_config, &f_config) == ESP_OK) {
printf("Driver installed\n");
} else {
printf("Failed to install driver\n");
return;
}
// Start TWAI driver
if (twai_start() == ESP_OK) {
printf("Driver started\n");
} else {
printf("Failed to start driver\n");
return;
}
}
void new_message(twai_message_t *message, uint32_t id, uint8_t dlc, uint8_t *data)
{
message->flags = TWAI_MSG_FLAG_NONE;
message->identifier = id;
message->data_length_code = dlc;
for (int i = 0; i < dlc; i++) {
message->data[i] = data[i];
}
printf("Message created\nID: %ld DLC: %d Data:\t", message->identifier, message->data_length_code);
for (int i = 0; i < message->data_length_code; i++) {
printf("%d\t", message->data[i]);
}
printf("\n");
}
void transmit_message(twai_message_t *message)
{
if (twai_transmit(message, pdMS_TO_TICKS(1000)) == ESP_OK) {
printf("Message queued for transmission\n");
} else {
printf("Failed to send message\n");
}
}
void receive_message(twai_message_t *message)
{
if (twai_receive(message, pdMS_TO_TICKS(1000)) == ESP_OK) {
printf("Message received:\n");
printf("ID: %ld DLC: %d Data:\t", message->identifier, message->data_length_code);
for (int i = 0; i < message->data_length_code; i++) {
(message->extd)?printf("Extended ID"):printf("Standard ID");
printf("%d\t", message->data[i]);
}
} else {
printf("Failed to receive message\n");
}
}
void app_main()
{
twai_setup_and_install();
twai_message_t message;
twai_message_t message1;
// Set the data to send
uint8_t data[8] = {rand() % 255, rand() % 255, rand() % 255,
rand() % 255, rand() % 255, rand() % 255, rand() % 255, rand() % 255};
while(true){
// Create a new message
new_message(&message, 0x123, 8, data);
// Transmit the message to a queue
transmit_message(&message);
// Receive the message from the queue
receive_message(&message1);
// Wait for 1 second
vTaskDelay(1000 / portTICK_PERIOD_MS);
}
}
If anyone can help me as soon as possible, it would be really appreciated.
Sincere Regards.
Steps followed:
I used ESP-IDF v5.0 with VS Code.
I used the documentation to obtain the code for sender and receiver.
I used a tested and functional MCP2515 module as my transceiver for the same.
The Tx is broadcasting perfectly, but the Rx is not working for the above code.
Expected Output:
Message received:
ID: 0x123 DLC: 8 Data: 1 2 3 4 5 6 7 8
In my source code, I have implemented random data bits, so data may vary
Actual Output:
Failed to receive message