A non-irq based heartbeat timer

In your main loop

		HeartbeatTimer();


		if (Do10msFunctions)
		{
			//-----------------------------
			//----- DO 10mS FUNCTIONS -----
			//-----------------------------
			Do10msFunctions = 0;



		}

Heartbeat timer function

		HeartbeatTimer();

		//Switches1New = 0;
		if (Do10msFunctions)
		{
			//-----------------------------
			//----- DO 10mS FUNCTIONS -----
			//-----------------------------
			Do10msFunctions = 0;

			//----- READ SWICHES -----
			//read_switches();

		}