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Code_Overview.html

@@ -1409,9 +1409,12 @@ functions are declared using the DECL_COMMAND() macro (see the
 <a href="Protocol.html">protocol</a> document for more information).</p>
 <p>Task, init, and command functions always run with interrupts enabled
 (however, they can temporarily disable interrupts if needed). These
-functions should never pause, delay, or do any work that lasts more
-than a few micro-seconds. These functions schedule work at specific
-times by scheduling timers.</p>
+functions should avoid long pauses, delays, or do work that lasts a
+significant time. These functions schedule work at specific times by
+scheduling timers. Long delays in these "task" functions result in
+scheduling jitter for other "tasks" - delays over 100us may become
+noticeable, delays over 500us may result in command retransmissions,
+delays over 100ms may result in watchdog reboots.</p>
 <p>Timer functions are scheduled by calling sched_add_timer() (located in
 <strong>src/sched.c</strong>). The scheduler code will arrange for the given
 function to be called at the requested clock time. Timer interrupts