[utest][can] Add CAN send and receive tests

[CYFS3]

拉取/合并请求描述：(PR description)

[

为什么提交这份PR (why to submit this PR)

现有 CAN 驱动缺少统一的收发 utest，难以在不同板卡上复用测试流程，也无法系统覆盖回环、外部节点、双控制器、不同仲裁波特率以及 CAN FD/BRS 等场景。

你的解决方案是什么 (what is your solution)

新增可配置的 CAN 收发 utest，支持单控制器回环、外部 CAN 节点和双控制器三种拓扑，覆盖阻塞及非阻塞发送、多个仲裁波特率、Classic CAN、CAN FD 和 BRS 帧，并在失败时输出控制器状态。测试结束时恢复原配置后再关闭设备，Kconfig 启用测试时自动选择 CAN 框架，并将接收超时范围调整为 1 至 60 秒、默认 10 秒。已在 bsp/renesas/ra8p1-titan-board/m85 上完成 Classic CAN、CAN FD、BRS 及双路 CAN 实板验证，并通过 Keil 编译。

请提供验证的bsp和config (provide the config and bsp)

• BSP:

• .config:

• action:

]

当前拉取/合并请求的状态 Intent for your PR

必须选择一项 Choose one (Mandatory):

• 本拉取/合并请求是一个草稿版本 This PR is for a code-review and is intended to get feedback
• 本拉取/合并请求是一个成熟版本 This PR is mature, and ready to be integrated into the repo

代码质量 Code Quality：

我在这个拉取/合并请求中已经考虑了 As part of this pull request, I've considered the following:

• 已经仔细查看过代码改动的对比 Already check the difference between PR and old code
• 代码风格正确，包括缩进空格，命名及其他风格 Style guide is adhered to, including spacing, naming and other styles
• 没有垃圾代码，代码尽量精简，不包含#if 0代码，不包含已经被注释了的代码 All redundant code is removed and cleaned up
• 所有变更均有原因及合理的，并且不会影响到其他软件组件代码或BSP All modifications are justified and not affect other components or BSP
• 对难懂代码均提供对应的注释 I've commented appropriately where code is tricky
• 代码是高质量的 Code in this PR is of high quality
• 已经使用clang-format 源码格式化工具确保格式符合RT-Thread代码规范 This PR has been formatted with clang-format and complies with RT-Thread code specification
• 如果是新增bsp, 已经添加ci检查到.github/ALL_BSP_COMPILE.json 详细请参考链接BSP自查

[github-actions]

👋 感谢您对 RT-Thread 的贡献！Thank you for your contribution to RT-Thread!

为确保代码符合 RT-Thread 的编码规范，请在你的仓库中执行以下步骤运行代码格式化工作流（如果格式化CI运行失败）。
To ensure your code complies with RT-Thread's coding style, please run the code formatting workflow by following the steps below (If the formatting of CI fails to run).

---

🛠 操作步骤 | Steps

1. 前往 Actions 页面 | Go to the Actions page
   点击进入工作流 → | Click to open workflow →

2. 点击 Run workflow | Click Run workflow

• Use workflow from 保持默认分支（通常为 master）
  Keep the default branch (usually master) in Use workflow from
• 在 branch 输入框填写 PR 分支 feat/can-utest
  Enter PR branch feat/can-utest in the branch field
• 设置需排除的文件/目录（目录请以"/"结尾）
  Set files/directories to exclude (directories should end with "/")

3. 等待工作流完成 | Wait for the workflow to complete
   格式化后的代码将作为独立提交推送至你的分支。
   The formatting changes will be pushed to your branch as a separate commit.

完成后，提交将自动更新至 feat/can-utest 分支，关联的 Pull Request 也会同步更新。
Once completed, commits will be pushed to the feat/can-utest branch automatically, and the related Pull Request will be updated.

如有问题欢迎联系我们，再次感谢您的贡献！💐
If you have any questions, feel free to reach out. Thanks again for your contribution!

[github-actions]

📌 Code Review Assignment

🏷️ Tag: components

Reviewers: @Maihuanyi

Changed Files (Click to expand)

• components/drivers/can/SConscript
• components/drivers/can/utest/Kconfig
• components/drivers/can/utest/SConscript
• components/drivers/can/utest/can_send_recv_tc.c
• components/utilities/utest/Kconfig

🏷️ Tag: components_driver_can

Reviewers: @wdfk-prog

Changed Files (Click to expand)

• components/drivers/can/SConscript
• components/drivers/can/utest/Kconfig
• components/drivers/can/utest/SConscript
• components/drivers/can/utest/can_send_recv_tc.c

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📊 Current Review Status (Last Updated: 2026-08-25 15:57 CST)

• ⌛ @Maihuanyi Pending Review
• ⌛ @wdfk-prog Pending Review

---

📝 Review Instructions

1. 维护者可以通过单击此处来刷新审查状态: 🔄 刷新状态
   Maintainers can refresh the review status by clicking here: 🔄 Refresh Status

2. 确认审核通过后评论 LGTM/lgtm
   Comment LGTM/lgtm after confirming approval

3. PR合并前需至少一位维护者确认
   PR must be confirmed by at least one maintainer before merging

ℹ️ 刷新CI状态操作需要具备仓库写入权限。
ℹ️ Refresh CI status operation requires repository Write permission.

[CYFS3]

验证了两个can互相收发，以及外部can盒测试的情况，回环测试暂未验证

[github-actions]

MemBrowse Memory Report

No memory changes detected for:

• at32f415-start
• esp32-c3
• gd32105r-start
• hc32f334
• hpmicro-hpm5301evklite
• infineon-psoc6
• k230
• loongson-ls1cdev
• nordic-nrf51822
• nuvoton-m487
• nxp-lpc1114
• qemu-virt64-aarch64
• raspberry-pico-rp2040
• renesas-ra2l1
• simulator
• stm32f407-rt-spark
• stm32l475-atk-pandora-llvm
• wch-ch32v208w-r0
• x86
• xuantie-e901plus

[wdfk-prog]

• 如果有接入硬件进行实际测试的动作的话
• 可以考虑设计CAN 的 两根线短路 开路 ,BUS-OFF等异常情况的设计流程
• 看看是否有打印获取到实际错误和故障恢复的处理,不会造成程序阻塞卡死崩溃等情况