Improve CAN Interface

[sheepmax]

BRS is off by default for extended frame construction, so building a frame with BRS enabled is not trivial without adding the embedded_can crate.

This PR does the following:

• Add a wrapper for embedded_can::Id, so they can be constructed with Embassy style errors and without external packages.
• Make the interface of the CAN Header struct homogeneous with the rest of the module.

[Dirbaio]

I'm not sure what's the advantage of the Id wrapper. Could you explain?

If the issue is you need to depend on embedded-can to do something, it should be fixable by reexporting more things (pub use embedded_can::somethingsomething)

[sheepmax]

The other advantage is turning an option-type error into something more familiar to Embassy errors. This may also be the bases for future refactoring as it provides a more complete API to build on. I don't see anything wrong with a reexport either, but it certainly doesn't feel clean.