embot::hw::can -> fixed ID filters for the FDCAN case

[marcoaccame]

This PR fixes the CAN ID filtering for the case of FDCAN peripherals and affects boards such as pmc, amcbldc and amc.

Before this change, for the above boards the ID filtering was not effective and the boards received every CAN frame, the so called pass-all behavior. Now, the HW filters of the FDCAN peripheral select the CAN frames by their IDs.

The selection allows only messages for:

• bootloader class sent to the board or in broadcast;
• analog sensor command class sent to the board or in broadcast;
• motion control command class sent to the board or in broadcast;
• motion control streaming class sent by address 0.

In this way the CPU of each board processes only what it needs.

The previous pass-all behavior is not wrong per se, but in some cases of excessive traffic it caused reception problems which prevent the drive to work correctly.

It is the case of the new wrist in iCub, where we have three amcbldc boards. In here if we don't use filtering, each board receives almost in at the same time up to 5 CAN frames, when only one is relevant to the board.

Problem is that the RX FIFO0 buffer which is used to accumulate the frames before the IRQ Handler can get them can host only three messages.

In this PR I fixed the above case by:

• activating the global filtering,
• applying the correct filtering for the CAN protocol messages relevant to each board,
• improving the RX callback activate by teh IRQ Handler to consider the cases of FDCAN_IT_RX_FIFO0_MESSAGE_LOST and FDCAN_IT_RX_FIFO0_FULL,
• increasing the number of allowed filters in the FDCAN driver.

The changes were tested on a pmc board for what is related to correct ID filtering and on a strain2 board to verify that there are no side effects on older boards and finally on the amcbldc boards of the wrist.

NOTE: the amc board must be able to receive every frame and this behavior is satisfied. That happens because it calls only embot::hw::can::init() which by default enables the pass-all mechanism. The filter is activated only by embot::hw::can::setfilters() which the amc must not call.