Computation device, control device and control method

A control device, comprising:

• a computation device;
• and
• one or a plurality of functional units connected to the computation device via a transmission path so as to be able to exchange data,
• wherein the computation device comprises:
• a first transmission control part that sends out a first communication frame at every predetermined cycle via the transmission path;
• a second transmission control part that sends out a second communication frame in response to an arbitrary event request during a period in which the first communication frame is not transmitted;
• a first event issuance part that issues a first event request according to processing;
• a second event issuance part that issues a second event request having a higher priority than the first event request;
• and
• a priority management part for processing the second event request issued by the second event issuance part with priority,
• wherein the priority management part, upon receiving an issuance request of the second event request from the second event issuance part, waits for completion of sending processing for the second communication frame corresponding to the first event request currently under processing by the second transmission control part, and then permits issuance of the second event request to the second event issuance part, and
• the second transmission control part suspends processing for a subsequent first event request following the first event request currently under processing until completion of processing for the second event request.

A control method in a control device comprising a computation device and one or a plurality of functional units connected to the computation device via a transmission path so as to be able to exchange data, the control method comprising:

• sending out a first communication frame at every predetermined cycle via the transmission path;
• issuing a first event request according to processing;
• issuing a second event request having a higher priority than the first event request;
• sending out a second communication frame in response to the first event request or the second event request during a period in which the first communication frame is not transmitted;
• upon receiving an issuance request of the second event request, waiting for completion of sending processing for the second communication frame corresponding to the first event request currently under processing, and then permitting issuance of the second event request;
• and
• suspending processing for a subsequent first event request following the first event request currently under processing until completion of processing for the second event request.