Hello, If the motor algorithm is running in flash and the Flash API is executing, you will see this behavior. For single-bank devices, there is no way to program and execute code on the same flash bank at the same time. So, you will see this halt behavior. If you know which part of the motor control algorithm that this ISR will occur in, you can have that run in RAM and that would resolve the issue. If not, you can reduce the amount of data being written by the Flash API to try and reduce the time that the algorithm halts. Kind regards, Skyler
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