Rescheduling mechanism for asynchronous devices

An asynchronous first device in communication with an asynchronous second device;

• wherein the time for the first device to complete a processing cycle is a first device major frame;
• wherein the first device major frame comprises a first device dedicated processing time slot at the end of the first device major frame,
• wherein the first device is configured to send a rescheduling signal to the second device when it has completed a first device major frame;
• and
• wherein the first device is configured, during every first device dedicated processing slot of every first device major frame, to:
• monitor for a rescheduling signal sent from the second device to the first device;
• and
• if a rescheduling signal from the second device is received:
• shift the end of the current first device major frame by a set duration to result in a rescheduled first device major frame;
• reschedule the subsequent first device major frames such that each subsequent rescheduled first device major frame starts as soon as the previous rescheduled first device major frame has ended.