[quote]Other than the (silly) suggestion from CCS to put functions in RAM, why do you think this would solve your problem? FLASH execution is zero-wait-state on the MSP430.[/quote] I agree. And mindlessly following those "hints" would be equally silly. I suspect the code causing the 'issues' is a somehow unhandy implementation, done by directly translating equations into C language expressions - and libm calls. I see the following options: use another, faster math library use tables for trigonometric functions (sin, cos, ...) partition the code, call the watchdog in between Fast libs for small MCUs (8 bit, 16 bit) most often imply the second point.
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