OpenCyphal / pycyphal

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Add option to disable bit rate switching for socket can (#373)

When running in CAN-FD mode, but with same nominal and data baudrate (just 64B data payload, but without transmitting data faster), BRS bit has to remain at zero. That indicates that there is no bitrate switch happening for data and data is transmitted at same speed. If I send message with BRS=1, even with data & nominal speed configured the same, I get framing errors on the bus. Even single message like this kills my whole bus.

This introduces option to do that via uavcan.udp.disable_brs set to true, or determines this automatically when uavcan.udp.bitrate indicates same bitrate for header & data.

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Co-authored-by: Pavel Kirienko <pavel.kirienko@gmail.com>

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