Add Support for J1939 Socket Control Messages

[derek-will]

Necessary for reading out priority and error queue data when using recvmsg to receive data on a J1939 network.

[olerem]

HI, thank you for your work!

I'm working on the kernel documentation for the CAN_J1939 socket,
i do not know about implementation state of this socket in this project, but may be new documentation may help :)

https://lore.kernel.org/all/20241013181715.3488980-1-o.rempel@pengutronix.de/