TWAI: FIFO overrun handling and errata workarounds

This commit adds handling for FIFO overruns and
adds workarounds for HW errats on the ESP32.

Closes https://github.com/espressif/esp-idf/issues/2519
Closes https://github.com/espressif/esp-idf/issues/4276

components/soc/esp32s3/include/soc/twai_caps.h

@@ -21,6 +21,8 @@ extern "C" {
 #define SOC_TWAI_BRP_MIN    2
 #define SOC_TWAI_BRP_MAX    32768
 
+#define SOC_TWAI_SUPPORTS_RX_STATUS     1
+
 #ifdef __cplusplus
 }
 #endif