Thanks for the tips.

By he way, comapring the MiBAM and Multi_SPWM which is lighter? I suppose Multi_SPWM.

On my final board, PIC will be probably the old F819, so I do not have the luxary of HPWM.

Maybe the Interrupt driven software and PID is the ultimte solution.

Currently I am dancing, err, oscillating...

Ioannis