为什么这个Python-CAN脚本的频率会发生变化？

Question

在下面的脚本中，我将数据0x01，0x0a发送到地址0x0050000b，然后在地址0x0790000b搜索答案"01 0a“。消息需要每隔100ms发送一次。

问题是，由于某些原因，我正在发送的消息移动了~1.3ms，这导致我的CAN设备无法接收它。

我在下面添加了一个CAN消息的截图，

如有任何帮助，我们不胜感激！

import can
import time
enable_use_server = True

bus = can.interface.Bus(bustype='neovi', channel='1', bitrate=500000)

# Set Control Mode = Buck and Control Type = V_LOW_I_LIM (new mode)
#send(can_id=0x00500000, ext_id=1, dlc=2, one_shot=1, rtr=0, data=[0x01, 0x0A], wait=100)

msg = can.Message(arbitration_id=0x0050000b, data=[0x01, 0x0a], extended_id=True)
bus.send(msg)
time.sleep(.1)
print('Enter Vlow Ilim Mode sent')

#Verifv
SearchID = str(hex(0x0790000b))
SearchID = SearchID.strip('0x')
found = False

while not found:
    mg = str(bus.recv(0.05))
    if re.search(SearchID, mg):
        print('rcv:  ' + mg)
        if re.search("01 0a", mg):
            print(msg)
            print("Vlow Ilim Mode was Successful")
            found = True
        else:
            print("Vlow Ilim Mode was NOT Successful")
            msg = can.Message(arbitration_id=0x0050000b, data=[0x01, 0x0a], extended_id=True)
            bus.send(msg)
            time.sleep(0.1)

here is the CAN log screenshot

Answer 1

代码本身也需要一些时间来执行。最好在循环中编写睡眠，如下所示：

t = time.time_ns()
while True:
    ...
    time.sleep((100000 - (time.time_ns() - t)) / 1000000)
    t = time.time_ns()

也许还有一些调整是必要的。