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Critical operations that should be performed at the task level must unfortunately be handled by the ISRs to ensure that they are dealt with in a timely fashion. This causes ISRs to take longer than they should. Also, information for a background module that an ISR makes available is not processed until the background routine gets its turn to execute, which is called the task-level response. The worst-case task-level response time depends on how long a background loop takes to execute and, since the execution time of typical code is not constant, the time for successive passes through a portion of the loop is nondeterministic. Furthermore, if a code change is made, the timing of the loop is affected. Anchor
Most high-volume and low-cost microcontroller-based applications (e.g., microwave ovens, telephones, toys, etc.) are designed as foreground/background systems.
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