Index: firmware/App/Services/Interrupts.c
===================================================================
diff -u -rdd70052b03eeb284223a4aade8567a4acec63efb -ree52cb8a255151dca7716a651a933eb5603902ef
--- firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision dd70052b03eeb284223a4aade8567a4acec63efb)
+++ firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision ee52cb8a255151dca7716a651a933eb5603902ef)
@@ -16,6 +16,7 @@
 ***************************************************************************/
 
 #include "can.h"
+#include "rti.h"
 #include "sci.h"
 #include "sys_dma.h"
 
@@ -24,6 +25,9 @@
 #include "Interrupts.h"
 #include "FPGA.h"
 #include "SystemComm.h"
+#include "TaskGeneral.h"
+#include "TaskPriority.h"
+#include "TaskTimer.h"
 #include "Utilities.h"
 #ifdef DEBUG_ENABLED
     #include "SystemCommMessages.h"
@@ -95,6 +99,41 @@
 #endif
 }
 
+/*********************************************************************//**
+ * @brief
+ * The rtiNotification function handles real-time interrupt notifications.
+ * @details
+ * Inputs : none
+ * Outputs : RTI notification handled.
+ * @param notification : Which RTI timer caused this interrupt.
+ * @return none
+ *************************************************************************/
+void rtiNotification(uint32 notification)
+{
+    switch ( notification )
+    {
+        case rtiNOTIFICATION_COMPARE0:
+            taskTimer();
+            break;
+
+        case rtiNOTIFICATION_COMPARE1:
+            taskPriority();
+            break;
+
+        case rtiNOTIFICATION_COMPARE2:
+            // do nothing - unused at this time
+            break;
+
+        case rtiNOTIFICATION_COMPARE3:
+            taskGeneral();
+            break;
+
+        default:
+            // TODO - s/w fault?
+            break;
+    }
+}
+
 /*********************************************************************//**
  * @brief
  * The canMessageNotification function handles CAN message notifications.
@@ -129,9 +168,9 @@
 void canErrorNotification(canBASE_t *node, uint32 notification)
 {
 #ifdef DEBUG_ENABLED
-    // TODO - temporary debug code - remove later
     char debugStr[ 256 ];
-#endif
+#endif
+
     if ( node == canREG1 )
     {
         if ( notification & canLEVEL_PARITY_ERR )
@@ -184,7 +223,7 @@
         }
         else
         {
-            // ignore - other bits undefined
+            // ignore - other notifications undefined
         }
     }
 }
@@ -217,7 +256,6 @@
             {
                 SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_UART_FRAME_ERROR )
             }
-            // TODO - try to do something to recover (+ max retries = comm fault)
 #ifdef DEBUG_ENABLED
             sprintf( debugStr, "FPGA UART FR err:%5d \n", sci2FrameErrorCnt );
             sendDebugData( (U08*)debugStr, strlen(debugStr) );
@@ -232,7 +270,6 @@
             {
                 SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_UART_OVERRUN_ERROR )
             }
-            // TODO - try to do something to recover (+ max retries = comm fault)
 #ifdef DEBUG_ENABLED
             sprintf( debugStr, "FPGA UART OR err:%5d \n", sci2OverrunErrorCnt );
             sendDebugData( (U08*)debugStr, strlen(debugStr) );
@@ -247,7 +284,6 @@
         {
             sci1FrameErrorCnt++;
             clearSCI1CommErrors();
-            // TODO - try to do something to recover (+ max retries = comm fault)
             sprintf( debugStr, "Debug UART FR err:%5d \n", sci1FrameErrorCnt );
             sendDebugData( (U08*)debugStr, strlen(debugStr) );
             sendDebugDataToUI( (U08*)debugStr );
@@ -256,7 +292,6 @@
         {
             sci1OverrunErrorCnt++;
             clearSCI1CommErrors();
-            // TODO - try to do something to recover (+ max retries = comm fault)
             sprintf( debugStr, "Debug UART OR err:%5d \n", sci1OverrunErrorCnt );
             sendDebugData( (U08*)debugStr, strlen(debugStr) );
             sendDebugDataToUI( (U08*)debugStr );
Index: firmware/source/rti.c
===================================================================
diff -u -rf068446fdb7889d320ddb6ffbd58f347ce0501e7 -ree52cb8a255151dca7716a651a933eb5603902ef
--- firmware/source/rti.c	(.../rti.c)	(revision f068446fdb7889d320ddb6ffbd58f347ce0501e7)
+++ firmware/source/rti.c	(.../rti.c)	(revision ee52cb8a255151dca7716a651a933eb5603902ef)
@@ -865,7 +865,6 @@
 void rtiCompare0Interrupt(void)
 {
 /* USER CODE BEGIN (74) */
-   taskTimer();
 /* USER CODE END */
 
     rtiREG1->INTFLAG = 1U;
@@ -891,7 +890,6 @@
 void rtiCompare1Interrupt(void)
 {
 /* USER CODE BEGIN (77) */
-   taskPriority();
 /* USER CODE END */
 
     rtiREG1->INTFLAG = 2U;
@@ -919,7 +917,6 @@
 void rtiCompare3Interrupt(void)
 {
 /* USER CODE BEGIN (83) */
-   taskGeneral();
 /* USER CODE END */
 
     rtiREG1->INTFLAG = 8U;