The chip can execute 8,000,000 (assuming 32MHz) instructions per second. The ISRs just take it in turn to do their thing. They've got 1mS (8000 instructions) between each byte arriving from the GPS. Same for each servo and the timer interrupt takes just a few instructions every 8,000 instructions. Oodles of time.
Had a busy day here and now late at night but I'll write some code tomorrow that will hopefully make it clearer.
Mike.
Had a busy day here and now late at night but I'll write some code tomorrow that will hopefully make it clearer.
Mike.