ESP-ISOTP Multiple links in parallel not run ! (IEC-547)

[logicDance-mcu]

Answers checklist.

• I have read the component documentation ESP-IDF Components and the issue is not addressed there.
• I am using target and esp-idf version as defined in component's idf_component.yml
• I have searched the issue tracker for a similar issue and not found any related issue.

Which component are you using? If you choose Other, provide details in More Information.

argtable3

ESP-IDF version.

v5.5.4

Development Kit.

esp32-s3

Used Component version.

v0.1.1

More Information.

Hello! There are a total of 4 motherboards on my bus, 1 is the main control board and 3 slave boards. I want to implement 3 instances on the main control board. There are separate rxid and txid corresponding to the 3 slave boards. The test cannot create the code as follows. Could you please help me find out what is wrong? Thank you so much

appCanTest.c

log
I (1095) canTest: ========== ISOTP 多实例测试开始 ==========
I (1095) canTest: 1. twai_new_node_onchip: ESP_OK (期望 ESP_OK)
I (1096) canTest: 2a. esp_isotp_new_transport #1 (0x102/0x202): ESP_OK
I (1096) canTest: h1 = 0x3fce9c5c
E (1096) esp_twai: _node_register_callbacks(342): register callback must when node stopped
E (1097) esp_isotp: esp_isotp_new_transport(112): Failed to register event callbacks
I (1097) canTest: 2b. esp_isotp_new_transport #2 (0x103/0x203): ESP_ERR_INVALID_STATE
E (1097) esp_twai: _node_register_callbacks(342): register callback must when node stopped
E (1097) esp_isotp: esp_isotp_new_transport(112): Failed to register event callbacks
I (1098) canTest: 2c. esp_isotp_new_transport #3 (0x104/0x204): ESP_ERR_INVALID_STATE
I (1098) canTest: --- 收发测试 ---
I (1098) canTest: h1=OK h2=NULL h3=NULL
I (1098) canTest: esp_isotp_send(h1, 0x102): ESP_OK
I (1099) canTest: --- 轮询 100ms ---
E (1199) esp_twai: _node_disable(496): node already disabled
I (1199) canTest: ========== ISOTP 多实例测试结束 ==========
I (4199) main_task: Returned from app_main()