Hi A2,

You're lucky to have so many output compare regs.
Not so lucky with my AT90S2313 Atmel, so I've had to use the age old 'triangle osc + 4 comparators' PWM trick. Works well though, when fed with a 4 channel D/A convertor.
There are lots of 4 channel A/D chips around if you do try some gyro chips.
You'll shelve your ADXL202s once you try them.

Cheers ADI