can: mcp251x: allow to read two registers in one spi transfer

This patch bases on work done earlier by David Jander.

Signed-off-by: Sascha Hauer <s.hauer@pengutronix.de>
Acked-by: David Jander <david@protonic.nl>
Signed-off-by: Uwe Kleine-König <u.kleine-koenig@pengutronix.de>
Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
Acked-by: Wolfgang Grandegger <wg@grandegger.com>