c - is it possible compare a 16-bit value with a 8-bit compare match ISR -

i trying make servo controller have higher resolution attiny85 8-bit timer/counter. far have managed 2000 positions on servo (1µs/step) within time frame of 21'000 µs. have managed move 5 servos sequential , different speed, want move them synchronous.

my biggest problem don't how should make happen! have looked around on other servo codes including servo8bit library , tried find way. seems of examples uses compare match isr move servos "at same time", problem have 16-bit integer want compare.

is there way magic can use 8-bit compare match isr 16-bit integer? or of have other suggestions on how can move servos synchronous without using compare match isr?

i hope questions make sense!

since don't have code show yet (only flawed attempts without compar match isr makes no sense) post link tinyservo code if helps.

edit 1:

here part of code mentioned , didn't post first time:

void servomove(void) {    uint16_t nextpulse = hpulse[0];  timersetup ();      //16-bit setup counter  (i = 0; < sizeof(servo)/sizeof(servo[0]); i++) {     if ( (otime > nextpulse) && (channel < sizeof(servo)/sizeof(servo[0])) )        //check if high pulse (pos) done     {         portb &= ~(1 << servo[channel]);          if (i+1 < sizeof(hpulse)/sizeof(hpulse[0]))         {             nextpulse += hpulse[i+1];         }          channel++;     }      else     {         channel = 0;          otime = 0;      //resets 16-bit variable         tot_overflow = 0;       //resets tot_overflow variable           tifr |= (1 << tov1);        // clear counter1 overflow-flag         tcnt1 = 0;      //resets timer/counter1      }  }  (i = 0; < sizeof(servo)/sizeof(servo[0]); i++) {     if ( (otime > tpulse - nextpulse) && (channel < sizeof(servo)/sizeof(servo[0]))   )         //check if low pulse (period) done      {            portb |= (1 << servo[channel]);         nextpulse -= hpulse[i];         channel++;       }  }  }   void servoposset(volatile uint16_t pos[], uint8_t size) {      (i = 0; < size; i++)      {         hpulse[i] = pos[i];      }  }   int main(void) {        tccr1 |= (1 << cs12);   //set timer/counter1 prescaler increment every 1 µs (pck/8)  (channel = 0; channel < size); channel++) {     ddrb |= (1 << servo[channel]);  //sets pb0-pb4 output pins }  channel = 0;  uint16_t pos[] = {2000, 1500, 1900, 1300, 1700}; uint8_t size = 5;  while(1)         {         servoposset(pos);          servomove(); }  } 

edit 2:

this illustration of how think code should work:

...but not!

if have nothing else during pulse, use busy loop instead of interrupts:

#include <avr/io.h> #include <util/delay_basic.h>  /* send pulse of width = 4*count cycles. */ void pulse(uint16_t count, uint8_t channel) {     uint8_t mask     = 1 << channel,             old_port = portb,             high     = old_port | mask,             low      = old_port & ~mask;      portb = high;     _delay_loop_2(count);     portb = low; } 

this give resolution of 4 clock cycles, or 0.5 µs 8 mhz clock.

sending pulses 5 servos should take @ 10 ms. since repeat pulse train every 21 ms, leaves 11 ms compute next set of positions, should plenty. program timer wake every 21 ms, main() may like:

int main(void) {     static uint16_t pos[] = {4000, 3000, 3800, 2600, 3400};     uint8_t i;      /* wake every 21 ms. */     setup_timer();     sleep_enable();      (;;) {         /* update servos. */         (i = 0; < 5; i++) pulse(pos[i], i);          /* compute next set of positions. */         ...          /* wait timer interrupt. */         sleep_cpu();     } }