Fix CAN FD bitrate switching

Finwood · Finwood · commit 78bdf3d8d6dd · 2025-08-04T08:21:04.000+02:00
Set the BRS bit for pythoncan transports when the interface operates in CAN FD mode. Fixes #368
diff --git a/pycyphal/transport/can/media/pythoncan/_pythoncan.py b/pycyphal/transport/can/media/pythoncan/_pythoncan.py
@@ -300,6 +300,7 @@ async def send(self, frames: typing.Iterable[Envelope], monotonic_deadline: floa
                 is_extended_id=(f.frame.format == FrameFormat.EXTENDED),
                 data=f.frame.data,
                 is_fd=self._is_fd,
+                bitrate_switch=self._is_fd,
             )
             try:
                 desired_timeout = monotonic_deadline - loop.time()

Original file line number	Diff line number	Diff line change
`@@ -300,6 +300,7 @@ async def send(self, frames: typing.Iterable[Envelope], monotonic_deadline: floa`
`300`	`300`	`is_extended_id=(f.frame.format == FrameFormat.EXTENDED),`
`301`	`301`	`data=f.frame.data,`
`302`	`302`	`is_fd=self._is_fd,`
	`303`	`+ bitrate_switch=self._is_fd,`
`303`	`304`	`)`
`304`	`305`	`try:`
`305`	`306`	`desired_timeout = monotonic_deadline - loop.time()`