drivers: can: move CAN utility function to public header

Rename the can_utils_filter_match() utility function to
can_frame_matches_filter(), move it to the public
include/zephyr/drivers/can.h header file, and add a missing mismatch for
standard (11-bit) ID frames passing extended (29-bit) filters.

This allows using the utility function in out-of-tree CAN drivers.

Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>