>No you can't in tasks 2 & 3, unless each preceding task (tasks 1 & 2) is
>isochronous.  Since you specifically make that NOT the case later in your
>paragraph, the true statement would be
>
>"you can assume that no less than xxx time has elapsed since your last
>invocation, where xxx is the desired/specified periodicity of the loop as
>forced by the dloop timer."


Whoah, good catch. I stand corrected! Maybe a better way would be to pad out
*each task* to a specific time using the TMR0 method, which would make the
task isochronous.

Later,

Eric