Apologies for my bad English. Guess I was listening too much Japanese Songs XD. Yes, all the servo control pulses are done in an interrupt loop. So consider that a typical servo control pulse is in range from 0.5ms to 2.5ms. So the longest interrupt loop for controlling those servos is about 2.5ms. But u can reduce the idle time by at least 0.5ms becuase the only thing the MCU doing is set some pins high at the stating 0.5ms period. Therefore, what i did in my code is:
a) Start a new 20ms period, do the sorting and set all the needed pins.
b) put the minimal value into a Timer Counter waiting for the overflow and leave the interrupt.
c) Once the minimal pulse reach to its end, come back to the interrupt and start to reset everybody
Just one thought that you probably already implemented in your product. Since you have sorted all your pulse and know the minimal required time, u can release that time period to do other things. So here is how i implement it. 1) sort the pulse time. 2) write that minimum pulse (minus) some of that to variable. 3) put that variable into a Timer for overflow interrupt....