Torqeedo Interface DUNE task

To enable communication between the IMC messages from DUNE, and the CAN bus used by the Torqeedo Interface Board, a new task has been created for use in the Otter. DUNE was also missing support for CAN, so this had to be added.

The task is of the periodic type, which limits how often it runs. The frequency of the task can be set with the parameter Execution Frequency, as all Periodic DUNE tasks can. Typically, reading has to be done more often that writing to the motors, so there is also another parameter called Motor write divider that limits writing to every # time the task is run. The task uses the SocketCAN implementation in DUNE to communicate with the CAN bus.