Implement read/write support for special can frames

[epage]

We should implement support for Special frame types

[lilesj]

Support should be prioritized in the following order:

1. Bus Error Frame - The fields in the payload are extremely useful for debugging problems with the network.
2. Start Trigger Frame - Critical for high accuracy time stamps.
3. Log Trigger Frame
4. Delay Frame

[epage]

#160 and and #144 resolved this for CAN frames. LIN frames will be added as part of the LIN work.