PCAN trace (.trc) format added to logreader
PCAN trace (.trc) format added to logreader

Using https://www.peak-system.com/produktcd/Pdf/English/PEAK_CAN_TRC_File_Format.pdf
as a reference, adds all PCAN trace formats to the logreader and
auto-detector.

Only doctests added for now. File tests can be added if deemed
appropriate.

cantools/cantools