port/esp32: Add CAN(TWAI) driver.

[IhorNehrutsa]

This pull request is based on ESP32: CAN(TWAI) driver #7381

Consistent with the docs\machine_CAN: Add CAN docs. #12330

Will consistent with the New machine.CAN driver #12337

[codecov]

Codecov Report

Merging #12331 (c604a8c) into master (1dedb65) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##           master   #12331   +/-   ##
=======================================
  Coverage   98.38%   98.38%           
=======================================
  Files         158      158           
  Lines       20900    20900           
=======================================
  Hits        20563    20563           
  Misses        337      337           

[projectgus]

As mentioned on the linked PR, this work is much appreciated and we're keen to have esp32 CAN driver support. Implementing a common machine.CAN API will take some time, the new plan for this work is in #12337.

@IhorNehrutsa I hope you're keen to keep this PR open and it can be adapted it to the new API once that's available.

[straga]

esp-idf 5.02
["esp32", "esp32", "1.22.0-preview", "v1.22.0-preview.132.g958c6d917.dirty on 2023-11-08", "with PSRAM"]
Work with some code change.

>>> dev = CAN(0, extframe=False, tx=4, rx=5, mode=CAN.NORMAL, baudrate=500000, auto_restart=False)
>>> dev.recv()
(857, False, False, b'\x00\x00\x00\x00\x03\x00\x00\x00')
>>> dev.recv()
(857, False, False, b'\x00\x00\x00\x00\x03\x00\x00\x00')
>>> dev.recv()
(853, False, False, b'_\x00d\x00')
>>> dev.recv()
(857, False, False, b'\x00\x00\x00\x00\x03\x00\x00\x00')
>>> dev.recv()
(857, False, False, b'\x00\x00\x00\x00\x03\x00\x00\x00')
>>> dev.recv()
(857, False, False, b'\x00\x00\x00\x00\x03\x00\x00\x00')
>>> dev.recv()
(862, False, False, b'hi\x89i\x00\x00  ')
>>> dev.recv()
(857, False, False, b'\x00\x00\x00\x00\x03\x00\x00\x00')

[winnie-xzh]

@straga Can you share your code changes? This PR may not be completed so quickly.

[straga]

@winnie-xzh
I am use user_modules for CAN, draft version, but work for me. Not need more touch micropython core code.
https://github.com/straga/micropython-esp32-twai

[projectgus]

This is an automated heads-up that we've just merged a Pull Request
that removes the STATIC macro from MicroPython's C API.

See #13763

A search suggests this PR might apply the STATIC macro to some C code. If it
does, then next time you rebase the PR (or merge from master) then you should
please replace all the STATIC keywords with static.

Although this is an automated message, feel free to @-reply to me directly if
you have any questions about this.