How to control 5 servos in 1 Timer interrupt?

[guil]

Hi,
I wanted to control 5 servos in 1 Timer(Timer0). My Timer0 interrupt at 0.5ms and this will be supplied to 5 servos as PWM source.

But, I have a hard time figuring the easy way I can control the 5 servos. Such as, holding 1 servo to a desired position while controlling the other and rotating the other.

I'm using F340DK. I know this mcu has 5 PCA modules. Let's just say that all 5 PCA modules were used by other peripheral other than the servos.

Also, do you know how can I slow down the movement of a servo?

thanks in advance
guil

 

[FvM]

It surely doesn't work with a fixed 0.5 ms timer interrupt.

Generating the pulse widths sequentially with timer intervalls programmed to 0.5 - 1.5 ms and an pause intervall adding up to 20 ms period seems a possible solution. I don't know about the detailed application constraints, however.

As with all software generated timings, interrupt latency will cause pulse width jitter. An external gating hardware operated from a single hardware pulse width output would allow exact timing, if appropriate.

Slow movement of a servo can be obviously achieved - by changing the set point slowly and continuously.