pub fn start(self) -> Twai<'d, Dm> {
        self.apply_filter();
        self.set_mode(self.mode);

        // Clear the TEC and REC
        self.regs()
            .tx_err_cnt()
            .write(|w| unsafe { w.tx_err_cnt().bits(0) });

        let rec =
            if cfg!(any(esp32, esp32s2, esp32s3, esp32c3)) && self.mode == TwaiMode::ListenOnly {
                // Errata workaround: Prevent transmission of dominant error frame while in
                // listen only mode by setting REC to 128 before exiting reset mode.
                // This forces the controller to be error passive (thus only transmits recessive
                // bits). The TEC/REC remain frozen in listen only mode thus
                // ensuring we remain error passive.
                128
            } else {
                0
            };
        self.regs()
            .rx_err_cnt()
            .write(|w| unsafe { w.rx_err_cnt().bits(rec) });

        // Clear any interrupts by reading the status register
        cfg_if::cfg_if! {
            if #[cfg(any(esp32, esp32c3, esp32s2, esp32s3))] {
                let _ = self.regs().int_raw().read();
            } else {
                let _ = self.regs().interrupt().read();
            }
        }

        // Put the peripheral into operation mode by clearing the reset mode bit.
        self.regs().mode().modify(|_, w| w.reset_mode().clear_bit());

        Twai {
            rx: TwaiRx {
                twai: unsafe { self.twai.clone_unchecked() },
                phantom: PhantomData,
                _guard: PeripheralGuard::new(self.twai.peripheral()),
            },
            tx: TwaiTx {
                twai: unsafe { self.twai.clone_unchecked() },
                phantom: PhantomData,
                _guard: PeripheralGuard::new(self.twai.peripheral()),
            },
            twai: unsafe { self.twai.clone_unchecked() },
            phantom: PhantomData,
        }
    }
Put the peripheral into Operation Mode, allowing the transmission and
reception of packets using the new object.
esp-hal/src/twai/mod.rs