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[canbus] Driver for CanBus

Alberto Nidasio requested to merge pyxis-canbus into testing

Rewritten Canbus driver.

Tested working between two death stacks at maximum baud rate (1 mbps) with a 2.5 meters long unshielded twisted pair, with no packet loss even at 80+% bus load.
Some signal integrity issues are present when the groung is not in common between the two computers, but minimal packet loss is observed even in this cas (less than 1 packet every 100 is lost). This needs further investigation (by the ELC team).

TODO:

  • Driver implementation
  • Driver test in loopback mode
  • Further tests with message filters and with checks for payload correctness
  • Driver test between two identical micros
  • Debug prints cleanup
  • Comments and wiki documentation

An application-level communicatiomn protocol will be developed further down the line on another merge request

Edited by Luca Erbetta

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