To date, the pi3hat CAN channels only supported CAN properties suitable for use with moteus controllers. Given that’s what most people are using them for, that’s fine. However, there was no real constraint behind that, just laziness.
Thus, I’ve released new firmware for the pi3hat that supports configuring the bitrate, FD-ness, and other properties of all 5 CAN channels.
Currently only the C++ library exposes the configuration functionality, but it will be easy enough to add to python when someone needs it.