static unsigned char Qa = 0;
static unsigned char Qb = 0;
static unsigned int ChanA [] = { 1500, 1500, 1500, 1500,
                                 1500, 1500, 1500, 1500,
                                 1500, 20000 };
static unsigned int ChanB [] = { 1500, 1500, 1500, 1500,
                                 1500, 1500, 1500, 1500,
                                 1500, 20000 };

void isr_hi ()
{
 /****************************************************************
  *  K8LH Crazy-18 Hi-Rez 18-chan Dual 74HC4017 Servo Algorithm  *
  ****************************************************************/
  if (PIR1bits.CCP1IF == 1)       // if CCP1 "compare" interrupt
  {
    CCPR1H++;                     // avoid false update "match"
    CCPR1 += ChanA[Qa];           // update "compare" int value
    CCPR1H--;                     // fix CCPR1H
    LATCbits.LATC2 = 0;           // clear CCP1 "CLK" line
    PIR1bits.CCP1IF = 0;          // clear CCP1 interrupt flag

    ChanA[9] -= ChanA[Qa++];      // adjust end-of-period off time

    if (Qa = 10)                  // if end-of-period
    { Qa = 0;                     // reset Qa array index
      ChanA[9] = 20000;           // reset 20.0-msec period and
      LATAbits.LATA0 = 1;         // toggle 74HC4017 "CLR" line
      LATAbits.LATA0 = 0;         // to force Q0 output sync'
    }
  }
  if (PIR2bits.CCP2IF == 1)       // if CCP2 "compare" interrupt
  {
    CCPR2H++;                     // avoid false update "match"
    CCPR2 += ChanB[Qb];           // update "compare" int value
    CCPR2H--;                     // fix CCPR2H
    LATCbits.LATC1 = 0;           // clear CCP2 "CLK" line
    PIR2bits.CCP2IF = 0;          // clear CCP2 interrupt flag

    ChanB[9] -= ChanB[Qb++];      // adjust end-of-period off time

    if (Qb = 10)                  // if end-of-period
    { Qb = 0;                     // reset Qb array index
      ChanB[9] = 20000;           // reset 20.0-msec period and
      LATAbits.LATA1 = 1;         // toggle 74HC4017 "CLR" line
      LATAbits.LATA1 = 0;         // to force Q0 output sync'
    }
  }
}

     While FSR2ptr < lastservobufaddr      ' FSR2 is RX servobuffer
        Do
        Loop Until PIR1.RCIF = 1           ' wait for new RX byte
        While TMR1H = 255                  ' avoid trasfer if close to interrupt
        Wend
        If PIR1.RCIF = 1 Then POSTINC0 = RCREG End If ' load RX byte.. when 30 bytes move on
     Wend
     FSR2ptr = @servobuffer                ' reset RX buffer
     FSR1ptr = @servobuffer                ' setup tranfer of RX array to
     FSR0ptr = @servo                      ' servo work array
     While FSR1ptr < lastservobufaddr
        POSTINC0 = inc(POSTINC1)           ' transfer RX buffer to work values.. add 1
     Wend

sub procedure interrupt
    LATA = Not(LATA)                       ' turn on all servos on PortA
    LATB = Not(LATB)                       ' turn on all servos on PortB
    LATC = Not(LATC)                       ' turn on all servos on PORTC
    LATD = Not(LATD)                       ' turn on all servos on PortD
    LATE = Not(LATE)                       ' turn on all servos on PORTE
    pos = 0                                ' 256 counts.. rollover to original value
          ASM
    initdelay:                             ' approx 500us delay using timer1 counts
             movlw     5                   ' prescaler=4, 2.5 counts / microsecond
    delayloop:
             btfsc     PIR1, 5,0           ' check USART RX buffer
             movff     RCREG, POSTINC2     ' move RX byte into servobuffer
             cpfseq    TMR1H, 0            ' timer1 = 1280?
             bra       delayloop
    servomask:                             ' VERY efficient PWM masking routine
             movlw     0
             decfsz    _servo+0, 1,0
             iorlw     1
             decfsz    _servo+1, 1,0