Setup CAN Fancy Layer (Higher Level Peripheral)

[dchansen06]

CAN Fancy Layer

Problem and Scope

Lib/Peripherals/CAN is amazing for CAN but requires a lot of overhead in an application and we almost always do things the same way

• Need a way to reliably convert uint32_t ID into actual ID fields for internal formats
• Need a way to validate messages have the right length
• Need the ECU-specific CAN_Configure and ECU_CAN_Send functions for use by other boards

MORE TODO

Description

Adds a fancy layer CAN library

MORE TODO

Gotchas and Limitations

Linear translation

MORE TODO

Testing

• HOOTL testing
• HITL testing
• Human tested

Testing Details

TODO

Larger Impact

Serves as a layer between the amazing Lib/Peripherals/CAN and application code making the CAN specific to our uses

Additional Context and Ticket

Would have helped #203 among other things

[dchansen06]

Fixed a few linter/compilation/case bugs that do not manifest under Windows

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Code looks good, but please add doc comments to the two header files GRCAN_FancyLayer.h and grcan_utils.h in the standard doc comment notation (either form just be consistent-ish please) for end-user readability.

/// @brief Encodes a fancy ID into a raw 32-bit can ID
/// @param id The fancy ID struct to encode
/// @return Encoded 32-bit value for CAN transmission
/// @note Do not use this function for custom can IDs (eg DTI, EM, etc)
GRCAN_BusMode GRCAN_BusModeForBus(GRCAN_BUS_ID bus);

 /**
  * @brief Gets the bus mode for a given bus ID
  * @param bus The bus ID to get the mode for
  * @return The bus mode corresponding to the given bus
  */
GRCAN_BusMode GRCAN_BusModeForBus(GRCAN_BUS_ID bus);

Additionally, please extend the newly-added readme file with some basic flows, keep it very simple / architectural level please. Maybe also add a todo section if you have anything on your mind.

Thank you!