It sounds like you need to rationalise the usage of ISR. It's
OK to call from an ISR. After all, the ISR itself is just a routine,
one that happens to be called by the micro itself. What is
different of course is that you have to meet certain conditions
in order for the ISR system to work properly - eg make sure
the ISR is over before the next IRQ or make provision for
pending IRQs and context preservation. Time spent tidying
things up is probably better spent than time trying to organise
a complete dog's dinner of smaller, harder to predict, sub-
programs. I'm sure we've all been there, done that, got the
T-shirt

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