Ok all thanks for your help on this problem I now have it working.

Fell into a few newbie traps, jumping to a subroutine, then returing from it with a return instruction, or acalling it then jumping out of it.

Also made a few errors calculating the jumps in a look up table for the motor currents :o(

Although I have been programming on the 8051 for over 8 years now, but due to doing stuff all in the last year I missed afew traps and felt like a newbie once again, so after all these problems I am planning on doing a tutorial for newbies showing some of the pitfalls of writing and modifying a program, like stack overflow, underflow, and where the various registers and bit programable areas are. Although this is all explained in the pdf files from the various manufacturers, these are very large documents and are daunting to the new used to sift through.


Regards,

Kat.