Thank you very much. That seems to be exactly what I needed to know.
Hadn't come across CYCFLAGs before but that is very very useful. I'm not sure if I can test that right now with the equipment at the office but I intend to try.
I wasn't sure how to setup an interrupt for this type of comparison so I didn't even really consider it. Haven't used interrupts much myself, but researching it I see that is really where I should have been going in the first place.
By the way, after reading everything you have commented about the actual execution of the sps, I have found and noticed that mentioned elsewhere on the forum. Is there specific manual or actual documentation that talks about the sps and the 12 ms cycle time of the different executing sub tasks? I would be very interested in researching more about all of it.