I have a machine which uses an NTP client to sync up to internet time so it's system clock should be fairly accurate.
I've got an application which I'm developing which logs data in real time, processes it and then passes it on. What I'd like to do now is output that data every N milliseconds aligned with the system clock. So for example if I wanted to do 20ms intervals, my oututs ought to be something like this:
13:15:05:000
13:15:05:020
13:15:05:040
13:15:05:060
I've seen suggestions for using the stopwatch class, but that only measures time spans as opposed to looking for specific time stamps. The code to do this is running in it's own thread, so should be a problem if I need to do some relatively blocking calls.
Any suggestions on how to achieve this to a reasonable (close to or better than 1ms precision would be nice) would be very gratefully received.
Don't know how well it plays with C++/CLR but you probably want to look at multimedia timers,
Windows isn't really real-time but this is as close as it gets
You can get a pretty accurate time stamp out of timeGetTime() when you reduce the time period. You'll just need some work to get its return value converted to a clock time. This sample C# code shows the approach:
using System;
using System.Runtime.InteropServices;
class Program {
static void Main(string[] args) {
timeBeginPeriod(1);
uint tick0 = timeGetTime();
var startDate = DateTime.Now;
uint tick1 = tick0;
for (int ix = 0; ix < 20; ++ix) {
uint tick2 = 0;
do { // Burn 20 msec
tick2 = timeGetTime();
} while (tick2 - tick1 < 20);
var currDate = startDate.Add(new TimeSpan((tick2 - tick0) * 10000));
Console.WriteLine(currDate.ToString("HH:mm:ss:ffff"));
tick1 = tick2;
}
timeEndPeriod(1);
Console.ReadLine();
}
[DllImport("winmm.dll")]
private static extern int timeBeginPeriod(int period);
[DllImport("winmm.dll")]
private static extern int timeEndPeriod(int period);
[DllImport("winmm.dll")]
private static extern uint timeGetTime();
}
On second thought, this is just measurement. To get an action performed periodically, you'll have to use timeSetEvent(). As long as you use timeBeginPeriod(), you can get the callback period pretty close to 1 msec. One nicety is that it will automatically compensate when the previous callback was late for any reason.
Your best bet is using inline assembly and writing this chunk of code as a device driver.
That way:
You have control over instruction count
Your application will have execution priority
Ultimately you can't guarantee what you want because the operating system has to honour requests from other processes to run, meaning that something else can always be busy at exactly the moment that you want your process to be running. But you can improve matters using timeBeginPeriod to make it more likely that your process can be switched to in a timely manner, and perhaps being cunning with how you wait between iterations - eg. sleeping for most but not all of the time and then using a busy-loop for the remainder.
Try doing this in two threads. In one thread, use something like this to query a high-precision timer in a loop. When you detect a timestamp that aligns to (or is reasonably close to) a 20ms boundary, send a signal to your log output thread along with the timestamp to use. Your log output thread would simply wait for a signal, then grab the passed-in timestamp and output whatever is needed. Keeping the two in separate threads will make sure that your log output thread doesn't interfere with the timer (this is essentially emulating a hardware timer interrupt, which would be the way I would do it on an embedded platform).
CreateWaitableTimer/SetWaitableTimer and a high-priority thread should be accurate to about 1ms. I don't know why the millisecond field in your example output has four digits, the max value is 999 (since 1000 ms = 1 second).
Since as you said, this doesn't have to be perfect, there are some thing that can be done.
As far as I know, there doesn't exist a timer that syncs with a specific time. So you will have to compute your next time and schedule the timer for that specific time. If your timer only has delta support, then that is easily computed but adds more error since the you could easily be kicked off the CPU between the time you compute your delta and the time the timer is entered into the kernel.
As already pointed out, Windows is not a real time OS. So you must assume that even if you schedule a timer to got off at ":0010", your code might not even execute until well after that time (for example, ":0540"). As long as you properly handle those issues, things will be "ok".
20ms is approximately the length of a time slice on Windows. There is no way to hit 1ms kind of timings in windows reliably without some sort of RT add on like Intime. In windows proper I think your options are WaitForSingleObject, SleepEx, and a busy loop.
Related
I have about 6 sensors (GPS, IMU, etc.) that I need to constantly collect data from. For my purposes, I need a reading from each (within a small time frame) to have a complete data packet. Right now I am using interrupts, but this results in more data from certain sensors than others, and, as mentioned, I need to have the data matched up.
Would it be better to move to a polling-based system in which I could poll each sensor in a set order? This way I could have data from each sensor every 'cycle'.
I am, however, worried about the speed of polling because this system needs to operate close to real time.
Polling combined with a "master timer interrupt" could be your friend here. Let's say that your "slowest" sensor can provide data on 20ms intervals, and that the others can be read faster. That's 50 updates per second. If that's close enough to real-time (probably is close for an IMU), perhaps you proceed like this:
Set up a 20ms timer.
When the timer goes off, set a flag inside an interrupt service routine:
volatile uint8_t timerFlag = 0;
ISR(TIMER_ISR_whatever)
{
timerFlag = 1; // nothing but a semaphore for later...
}
Then, in your main loop act when timerFlag says it's time:
while(1)
{
if(timerFlag == 1)
{
<read first device>
<read second device>
<you get the idea ;) >
timerflag = 0;
}
}
In this way you can read each device and keep their readings synched up. This is a typical way to solve this problem in the embedded space. Now, if you need data faster than 20ms, then you shorten the timer, etc. The big question, as it always is in situations like this, is "how fast can you poll" vs. "how fast do you need to poll." Only experimentation and knowing the characteristics and timing of your various devices can tell you that. But what I propose is a general solution when all the timings "fit."
EDIT, A DIFFERENT APPROACH
A more interrupt-based example:
volatile uint8_t device1Read = 0;
volatile uint8_t device2Read = 0;
etc...
ISR(device 1)
{
<read device>
device1Read = 1;
}
ISR(device 2)
{
<read device>
device2Read = 1;
}
etc...
// main loop
while(1)
{
if(device1Read == 1 && device2Read == 1 && etc...)
{
//< do something with your "packet" of data>
device1Read = 0;
device2Read = 0;
etc...
}
}
In this example, all your devices can be interrupt-driven but the main-loop processing is still governed, paced, by the cadence of the slowest interrupt. The latest complete reading from each device, regardless of speed or latency, can be used. Is this pattern closer to what you had in mind?
Polling is a pretty good and easy to implement idea in case your sensors can provide data practically instantly (in comparison to your desired output frequency). It does get into a nightmare when you have data sources that need a significant (or even variable) time to provide a reading or require an asynchronous "initiate/collect" cycle. You'd have to sort your polling cycles to accommodate the "slowest" data source.
What might be a solution in case you know the average "data conversion rate" of each of your sources, is to set up a number of timers (per data source) that trigger at poll time - data conversion rate and kick in the measurement from those timer ISRs. Then have one last timer that triggers at poll timer + some safety margin that collects all the conversion results.
On the other hand, your apparent problem of "having too many measurements" from the "fast" data sources wouldn't bother me too much as long as you don't have anything reasonable to do with that wasted CPU/sensor load.
A last and easier approach, in case you have some cycles to waste, is: Simply sort the data sources from "slowest" to "fastest" and initiate a measurement in that order, then wait for results in the same order and poll.
Here's a low level question. How CPU intensive is getting system time?
What is the source of the time? I know there is a hardware clock on the bios chip but I'm thinking that getting data from outside the CPU and RAM will need some hardware synchronization which may delay the read so I'm guessing the CPU may have its own clock. Feel free to correct me if I'm wrong in any way.
Does getting time incur a heavy system function call or is it in any way dependent on the used programming language?
I have just tested it using a C++ program:
clock_t started = clock();
clock_t endClock = started + CLOCKS_PER_SEC;
long itera = 0;
for (; clock() < endClock; itera++)
{
}
I get about 23 million iterations per second (Windows 7, 32bit, Visual Studio 2015, 2.6 GHz CPU). In terms of your question, I would not call this intensive.
In debug mode, I measured 18 million iterations per second.
In case the time is transformed into a localized timestamp, complicated calendar calculations (timezone, daylight saving time, ...) might significantly slow down the loop.
It is not easy to tell what happens inside the clock() call. For my system, it calls QueryPerfomanceCounter, but this recurs to other system functions as explained here.
Tuning
To reduce the time measurement overhead even further, you can measure in every 10th, 100th ... iteration.
The following measures once in 1024 iterations:
for (; (itera & 0x03FF) || (clock() < endClock); itera++)
{
}
This brings up the loop per second count to some 500 million.
Tuning with Timer Thread
The following yields a further improvement of some 10% paid with additional complexity:
std::atomic<bool> processing = true;
// launch a timer thread to clear the processing flag after 1s
std::thread t([&processing]() {
std::this_thread::sleep_for(std::chrono::seconds(1));
processing = false;
});
for (; (itera & 0x03FF) || processing; itera++)
{
}
t.join();
An extra thread is started which sleeps for one second and then sets a control variable. The main thread executes the loop until the timer threads signals the end of processing.
What object/method would I call to get current time in milliseconds (or great precision) to help measure how long a method took to execute?
NSDate's timeIntervalSinceDate will return NSInterval which is measured in seconds. I am looking for something finer grained, something similar to Java's System.currentTimeMillis.
Is there an equivalent version in objective-c/CocoaTouch?
For very fine-grained timings on OS X, I use mach_absolute_time( ), which is defined in <mach/mach_time.h>. You can use it as follows:
#include <mach/mach_time.h>
#include <stdint.h>
static double ticksToNanoseconds = 0.0;
uint64_t startTime = mach_absolute_time( );
// Do some stuff you want to time here
uint64_t endTime = mach_absolute_time( );
// Elapsed time in mach time units
uint64_t elapsedTime = endTime - startTime;
// The first time we get here, ask the system
// how to convert mach time units to nanoseconds
if (0.0 == ticksToNanoseconds) {
mach_timebase_info_data_t timebase;
// to be completely pedantic, check the return code of this next call.
mach_timebase_info(&timebase);
ticksToNanoseconds = (double)timebase.numer / timebase.denom;
}
double elapsedTimeInNanoseconds = elapsedTime * ticksToNanoseconds;
Actually, +[NSDate timeIntervalSinceReferenceDate] returns an NSTimeInterval, which is a typedef for a double. The docs say
NSTimeInterval is always specified in seconds; it yields sub-millisecond precision over a range of 10,000 years.
So it's safe to use for millisecond-precision timing. I do so all the time.
Do not use NSDate for this. You're loosing a lot of precision to call methods and instantiate objects, maybe even releasing something internal. You just don't have enough control.
Use either time.h or as Stephen Canon suggested mach/mach_time.h. They are both much more accurate.
The best way to do this is to fire up Instruments or Shark, attach them to your process (works even if it's already running) and let them measure the time a method takes.
After you're familiar with it this takes even less time than any put-in-mach-time-functions-and-recompile-the-whole-application solution. You even get a lot of information extra. I wouldn't settle for anything less.
timeIntervalSinceReferenceDate is perfectly fine.
However, unless it's a long-running method, this won't bear much fruit. Execution times can vary wildly when you're talking about a few millisecond executions. If your thread/process gets preempted mid-way through, you'll have non-deterministic spikes. Essentially, your sample size is too small. Either use a profiler or run 100,000 iterations to get total time and divide by 100,000 to get average run-time.
If you're trying to tune your code's performance, you would do better to use Instruments or Shark to get an overall picture of where your app is spending its time.
I will repost my answer from another post here. Note that my admittedly simple solution to this complex problem uses NSDate and NSTimeInterval as its foundation:
I know this is an old one but even I found myself wandering past it again, so I thought I'd submit my own option here.
Best bet is to check out my blog post on this:
Timing things in Objective-C: A stopwatch
Basically, I wrote a class that does stop watching in a very basic way but is encapsulated so that you only need to do the following:
[MMStopwatchARC start:#"My Timer"];
// your work here ...
[MMStopwatchARC stop:#"My Timer"];
And you end up with:
MyApp[4090:15203] -> Stopwatch: [My Timer] runtime: [0.029]
in the log...
Again, check out my post for a little more or download it here:
MMStopwatch.zip
#bladnman I love your stopwatch thing.. I use it all the time.. Here's a little block I wrote that eliminates the need for the closing call, and makes it even EASIER (if that even seemed possible) to use, lol.
+(void)stopwatch:(NSString*)name timing:(void(^)())block {
[MMStopwatch start:name];
block();
[MMStopwatch stop: name];
}
then you can just call it wherever..
[MMStopwatch stopwatch:#"slowAssFunction" timing:^{
NSLog(#"%#",#"someLongAssFunction");
}];
↪someLongAssFunction
-> Stopwatch: [slowAssFunction] runtime:[0.054435]
You should post that sucker to github - so people can find it easily / contribute, etc. it's great. thanks.
This question is about programming small microcontrollers without an OS. In particular, I'm interested in PICs at the moment, but the question is general.
I've seen several times the following pattern for keeping time:
Timer interrupt code (say the timer fires every second):
...
if (sec_counter > 0)
sec_counter--;
...
Mainline code (non-interrupt):
sec_counter = 500; // 500 seconds
while (sec_counter)
{
// .. do stuff
}
The mainline code may repeat, set the counter to various values (not just seconds) and so on.
It seems to me there's a race condition here when the assignment to sec_counter in the mainline code isn't atomic. For example, in PIC18 the assignment is translated to 4 ASM statements (loading each byte at the time and selecting the right byte from the memory bank before that). If the interrupt code comes in the middle of this, the final value may be corrupted.
Curiously, if the value assigned is less than 256, the assignment is atomic, so there's no problem.
Am I right about this problem?
What patterns do you use to implement such behavior correctly? I see several options:
Disable interrupts before each assignment to sec_counter and enable after - this isn't pretty
Don't use an interrupt, but a separate timer which is started and then polled. This is clean, but uses up a whole timer (in the previous case the 1-sec firing timer can be used for other purposes as well).
Any other ideas?
The PIC architecture is as atomic as it gets. It ensures that all read-modify-write operations to a memory file are 'atomic'. Although it takes 4-clocks to perform the entire read-modify-write, all 4-clocks are consumed in a single instruction and the next instruction uses the next 4-clock cycle. It is the way that the pipeline works. In 8-clocks, two instructions are in the pipeline.
If the value is larger than 8-bit, it becomes an issue as the PIC is an 8-bit machine and larger operands are handled in multiple instructions. That will introduce atomic issues.
You definitely need to disable the interrupt before setting the counter. Ugly as it may be, it is necessary. It is a good practice to ALWAYS disable the interrupt before configuring hardware registers or software variables affecting the ISR method. If you are writing in C, you should consider all operations as non-atomic. If you find that you have to look at the generated assembly too many times, then it may be better to abandon C and program in assembly. In my experience, this is rarely the case.
Regarding the issue discussed, this is what I suggest:
ISR:
if (countDownFlag)
{
sec_counter--;
}
and setting the counter:
// make sure the countdown isn't running
sec_counter = 500;
countDownFlag = true;
...
// Countdown finished
countDownFlag = false;
You need an extra variable and is better to wrap everything in a function:
void startCountDown(int startValue)
{
sec_counter = 500;
countDownFlag = true;
}
This way you abstract the starting method (and hide ugliness if needed). For example you can easily change it to start a hardware timer without affecting the callers of the method.
Write the value then check that it is the value required would seem to be the simplest alternative.
do {
sec_counter = value;
} while (sec_counter != value);
BTW you should make the variable volatile if using C.
If you need to read the value then you can read it twice.
do {
value = sec_counter;
} while (value != sec_counter);
Because accesses to the sec_counter variable are not atomic, there's really no way to avoid disabling interrupts before accessing this variable in your mainline code and restoring interrupt state after the access if you want deterministic behavior. This would probably be a better choice than dedicating a HW timer for this task (unless you have a surplus of timers, in which case you might as well use one).
If you download Microchip's free TCP/IP Stack there are routines in there that use a timer overflow to keep track of elapsed time. Specifically "tick.c" and "tick.h". Just copy those files over to your project.
Inside those files you can see how they do it.
It's not so curious about the less than 256 moves being atomic - moving an 8 bit value is one opcode so that's as atomic as you get.
The best solution on such a microcontroller as the PIC is to disable interrupts before you change the timer value. You can even check the value of the interrupt flag when you change the variable in the main loop and handle it if you want. Make it a function that changes the value of the variable and you could even call it from the ISR as well.
Well, what does the comparison assembly code look like?
Taken to account that it counts downwards, and that it's just a zero compare, it should be safe if it first checks the MSB, then the LSB. There could be corruption, but it doesn't really matter if it comes in the middle between 0x100 and 0xff and the corrupted compare value is 0x1ff.
The way you are using your timer now, it won't count whole seconds anyway, because you might change it in the middle of a cycle.
So, if you don't care about it. The best way, in my opinion, would be to read the value, and then just compare the difference. It takes a couple of OPs more, but has no multi-threading problems.(Since the timer has priority)
If you are more strict about the time value, I would automatically disable the timer once it counts down to 0, and clear the internal counter of the timer and activate once you need it.
Move the code portion that would be on the main() to a proper function, and have it conditionally called by the ISR.
Also, to avoid any sort of delaying or missing ticks, choose this timer ISR to be a high-prio interrupt (the PIC18 has two levels).
One approach is to have an interrupt keep a byte variable, and have something else which gets called at least once every 256 times the counter is hit; do something like:
// ub==unsigned char; ui==unsigned int; ul==unsigned long
ub now_ctr; // This one is hit by the interrupt
ub prev_ctr;
ul big_ctr;
void poll_counter(void)
{
ub delta_ctr;
delta_ctr = (ub)(now_ctr-prev_ctr);
big_ctr += delta_ctr;
prev_ctr += delta_ctr;
}
A slight variation, if you don't mind forcing the interrupt's counter to stay in sync with the LSB of your big counter:
ul big_ctr;
void poll_counter(void)
{
big_ctr += (ub)(now_ctr - big_ctr);
}
No one addressed the issue of reading multibyte hardware registers (for example a timer.
The timer could roll over and increment its second byte while you're reading it.
Say it's 0x0001ffff and you read it. You might get 0x0010ffff, or 0x00010000.
The 16 bit peripheral register is volatile to your code.
For any volatile "variables", I use the double read technique.
do {
t = timer;
} while (t != timer);
I am using a microcontroller with a C51 core. I have a fairly timeconsuming and large subroutine that needs to be called every 500ms. An RTOS is not being used.
The way I am doing it right now is that I have an existing Timer interrupt of 10 ms. I set a flag after every 50 interrupts that is checked for being true in the main program loop. If the Flag is true the subroutine is called. The issue is that by the time the program loop comes round to servicing the flag, it is already more than 500ms,sometimes even >515 ms in case of certain code paths. The time taken is not accurately predictable.
Obviously, the subroutine cannot be called from inside the timer interrupt due to that large time it takes to execute.The subroutine takes 50ms to 89ms depending upon various conditions.
Is there a way to ensure that the subroutine is called in exactly 500ms each time?
I think you have some conflicting/not-thought-through requirements here. You say that you can't call this code from the timer ISR because it takes too long to run (implying that it is a lower-priority than something else which would be delayed), but then you are being hit by the fact that something else which should have been lower-priority is delaying it when you run it from the foreground path ('program loop').
If this work must happen at exactly 500ms, then run it from the timer routine, and deal with the fall-out from that. This is effectively what a pre-emptive RTOS would be doing anyway.
If you want it to run from the 'program loop', then you will have to make sure than nothing else which runs from that loop ever takes more than the maximum delay you can tolerate - often that means breaking your other long-running work into state-machines which can do a little bit of work per pass through the loop.
I don't think there's a way to guarantee it but this solution may provide an acceptable alternative.
Might I suggest not setting a flag but instead modifying a value?
Here's how it could work.
1/ Start a value at zero.
2/ Every 10ms interrupt, increase this value by 10 in the ISR (interrupt service routine).
3/ In the main loop, if the value is >= 500, subtract 500 from the value and do your 500ms activities.
You will have to be careful to watch for race conditions between the timer and main program in modifying the value.
This has the advantage that the function runs as close as possible to the 500ms boundaries regardless of latency or duration.
If, for some reason, your function starts 20ms late in one iteration, the value will already be 520 so your function will then set it to 20, meaning it will only wait 480ms before the next iteration.
That seems to me to be the best way to achieve what you want.
I haven't touched the 8051 for many years (assuming that's what C51 is targeting which seems a safe bet given your description) but it may have an instruction which will subtract 50 without an interrupt being possible. However, I seem to remember the architecture was pretty simple so you may have to disable or delay interrupts while it does the load/modify/store operation.
volatile int xtime = 0;
void isr_10ms(void) {
xtime += 10;
}
void loop(void) {
while (1) {
/* Do all your regular main stuff here. */
if (xtime >= 500) {
xtime -= 500;
/* Do your 500ms activity here */
}
}
}
You can also use two flags - a "pre-action" flag, and a "trigger" flag (using Mike F's as a starting point):
#define PREACTION_HOLD_TICKS (2)
#define TOTAL_WAIT_TICKS (10)
volatile unsigned char pre_action_flag;
volatile unsigned char trigger_flag;
static isr_ticks;
interrupt void timer0_isr (void) {
isr_ticks--;
if (!isr_ticks) {
isr_ticks=TOTAL_WAIT_TICKS;
trigger_flag=1;
} else {
if (isr_ticks==PREACTION_HOLD_TICKS)
preaction_flag=1;
}
}
// ...
int main(...) {
isr_ticks = TOTAL_WAIT_TICKS;
preaction_flag = 0;
tigger_flag = 0;
// ...
while (1) {
if (preaction_flag) {
preaction_flag=0;
while(!trigger_flag)
;
trigger_flag=0;
service_routine();
} else {
main_processing_routines();
}
}
}
A good option is to use an RTOS or write your own simple RTOS.
An RTOS to meet your needs will only need to do the following:
schedule periodic tasks
schedule round robin tasks
preform context switching
Your requirements are the following:
execute a periodic task every 500ms
in the extra time between execute round robin tasks ( doing non-time critical operations )
An RTOS like this will guarantee a 99.9% chance that your code will execute on time. I can't say 100% because whatever operations your do in your ISR's may interfere with the RTOS. This is a problem with 8-bit micro-controllers that can only execute one instruction at a time.
Writing an RTOS is tricky, but do-able. Here is an example of small ( 900 lines ) RTOS targeted at ATMEL's 8-bit AVR platform.
The following is the Report and Code created for the class CSC 460: Real Time Operating Systems ( at the University of Victoria ).
Would this do what you need?
#define FUDGE_MARGIN 2 //In 10ms increments
volatile unsigned int ticks = 0;
void timer_10ms_interrupt( void ) { ticks++; }
void mainloop( void )
{
unsigned int next_time = ticks+50;
while( 1 )
{
do_mainloopy_stuff();
if( ticks >= next_time-FUDGE_MARGIN )
{
while( ticks < next_time );
do_500ms_thingy();
next_time += 50;
}
}
}
NB: If you got behind with servicing your every-500ms task then this would queue them up, which may not be what you want.
One straightforward solution is to have a timer interrupt that fires off at 500ms...
If you have some flexibility in your hardware design, you can cascade the output of one timer to a second stage counter to get you a long time base. I forget, but I vaguely recall being able to cascade timers on the x51.
Ah, one more alternative for consideration -- the x51 architecture allow two levels of interrupt priorities. If you have some hardware flexibility, you can cause one of the external interrupt pins to be raised by the timer ISR at 500ms intervals, and then let the lower-level interrupt processing of your every-500ms code to occur.
Depending on your particular x51, you might be able to also generate a lower priority interrupt completely internal to your device.
See part 11.2 in this document I found on the web: http://www.esacademy.com/automation/docs/c51primer/c11.htm
Why do you have a time-critical routine that takes so long to run?
I agree with some of the others that there may be an architectural issue here.
If the purpose of having precise 500ms (or whatever) intervals is to have signal changes occuring at specific time intervals, you may be better off with a fast ISR that ouputs the new signals based on a previous calculation, and then set a flag that would cause the new calculation to run outside of the ISR.
Can you better describe what this long-running routine is doing, and what the need for the specific interval is for?
Addition based on the comments:
If you can insure that the time in the service routine is of a predictable duration, you might get away with missing the timer interrupt postings...
To take your example, if your timer interrupt is set for 10 ms periods, and you know your service routine will take 89ms, just go ahead and count up 41 timer interrupts, then do your 89 ms activity and miss eight timer interrupts (42nd to 49th).
Then, when your ISR exits (and clears the pending interrupt), the "first" interrupt of the next round of 500ms will occur about a ms later.
Given that you're "resource maxed" suggests that you have your other timer and interrupt sources also in use -- which means that relying on the main loop to be timed accurately isn't going to work, because those other interrupt sources could fire at the wrong moment.
If I'm interpretting your question correctly, you have:
a main loop
some high priority operation that needs to be run every 500ms, for a duration of up to 89ms
a 10ms timer that also performs a small number of operations.
There are three options as I see it.
The first is to use a second timer of a lower priority for your 500ms operations. You can still process your 10ms interrupt, and once complete continue servicing your 500ms timer interrupt.
Second option - doe you actually need to service your 10ms interrupt every 10ms? Is it doing anything other than time keeping? If not, and if your hardware will allow you to determine the number of 10ms ticks that have passed while processing your 500ms op's (ie. by not using the interrupts themselves), then can you start your 500ms op's within the 10ms interrupt and process the 10ms ticks that you missed when you're done.
Third option: To follow on from Justin Tanner's answer, it sounds like you could produce your own preemptive multitasking kernel to fill your requirements without too much trouble.
It sounds like all you need is two tasks - one for the main super loop and one for your 500ms task.
The code to swap between two contexts (ie. two copies of all of your registers, using different stack pointers) is very simple, and usually consists of a series of register pushes (to save the current context), a series of register pops (to restore your new context) and a return from interrupt instruction. Once your 500ms op's are complete, you restore the original context.
(I guess that strictly this is a hybrid of preemptive and cooperative multitasking, but that's not important right now)
edit:
There is a simple fourth option. Liberally pepper your main super loop with checks for whether the 500ms has elapsed, both before and after any lengthy operations.
Not exactly 500ms, but you may be able to reduce the latency to a tolerable level.