[uavcan] Use CAN abstraction (#3440)

* [CAN] timestamp in us, and fix typo

* [uavcan] Use CAN abstraction

* [CAN] Add missing can2.

* [WIP] CAN error handling

---------

Co-authored-by: Fabien-B <Fabien-B@github.com>

conf/modules/can.xml

@@ -11,12 +11,11 @@
   </doc>
   <dep>
     <depends>mcu</depends>
-    <conflicts>uavcan</conflicts>
   </dep>
   <header>
     <file name="can.h" dir="mcu_periph"/>
   </header>
-  <event fun="can_event()" cond="ifeq ($(ARCH), stm32)"/>
+  <!-- <event fun="can_event()" cond="ifeq ($(ARCH), stm32)"/> -->
   <makefile>
     <configure name="USE_CANFD" default="FALSE"/>
     <define name="USE_CANFD" value="$(USE_CANFD)"/>

conf/modules/uavcan.xml

@@ -10,6 +10,9 @@
    <define name="UAVCAN_NODE_ID" value="100" description="The UAVCAN node ID of the AP"/>
    <define name="UAVCAN_BAUDRATE" value="1000000" description="The baudrate of the CAN interface"/>
   </doc>
+  <dep>
+    <depends>can</depends>
+  </dep>
   <header>
     <file name="uavcan.h" dir="modules/uavcan"/>
   </header>
@@ -37,4 +40,3 @@
     <file_arch name="uavcan.c" dir="modules/uavcan"/>
   </makefile>
 </module>
-