Add optional CAN FD support - #5
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Summary
Add an optional
fdflag to enable CAN FD support for python-can / SocketCAN.When
fd=True, the controller initializes the CAN bus with FD support and sends messages withis_fd=True.This PR also clears stale register cache entries before sending a
write_register()command. This is related to #4, where control mode verification may fail after a power cycle because the motor firmware can take time to update and respond. Clearing the stale cache prevents a follow-up read from accidentally using an old cached value immediately after a write command.Notes
The default is
fd=False, so existing classic CAN behavior remains unchanged.The cache clearing only removes the entry for the register being written, and does not clear the entire register cache.