ERR: csv parsing error consistency of exceptions
xref https://github.com/pydata/pandas/pull/12551

a) change `CParserError` to an actual `ValueError`. this is used in a very small number of cases in the `engine='c'` parser.  (in #12551 it will inherit from `ValueError`)

b) So we either change ALL `ValueError` to `ParserError(ValueError)` (e.g. a custom exception) and make the changes in both the `engine='c'` and `engine='python'`.
