> Bruce Partridge wrote :
>
> > I have other things going on in the isr.
>
> I think that's one of your problems, having to much "going on"
> in your ISR.
>

Unfortunately, I can't find another way of doing it.  I have this one VERY
intense routine.  It is loops of floating point operations on arrays.  It is
essential to the app and very slow.

I also have a bunch of display and sensor reading routines that need to
happen several times per second.  I can't think of any other way to do this
other than to simulate multitasking with interrupts.  Basically, I am using
the interrupt to simulate pre-emptive multitasking.
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