Here is what I wrote for 68HC11 and which may be easily rewritten for 8051

Regards

Stephane
/* Microcontroller's port or adress used for LCD
PORT LCD LCD Connector

VDD+VO 1
VSS 2
Px_0 : no conn. 3
Px_1 : RS 4
Px_2 : R/W 5
Px_3 : E 6
Px_4 : DB4 11
Px_5 : DB5 12
Px_6 : DB6 13
Px_7 : DB7 14

Raising edge on E, R/W=0 : x8
Falling edge on E : x0

void HLCD_LcdInit(void)
{
Pause ();

LCD_PORT=0x38;
Pause ();
LCD_PORT=0x30;
Pause ();

LCD_PORT=0x38;
Pause ();
LCD_PORT=0x30;
Pause ();

LCD_PORT=0x38;
Pause ();
LCD_PORT=0x30;
Pause ();

LCD_PORT=0x28;
Pause ();
LCD_PORT=0x20;
Pause ();


LcdWrite(2,"x28"); /* Function set : 4 bits interface, no shift */
LcdWrite(2,"x0C"); /* Display control : display on, cursor off, blink off */
LcdWrite(2,"x06"); /* Entry mode set : increment mode, no display shift */
LcdWrite(2,"x02"); /* return home */
LcdWrite(2,"x01"); /* clear display */

Pause ();
}


/*-------------------------------------------------------------------
Send datas or instructions to the LCD display
LcdWrite(U8 func,U8 *txt)
u8Function = 1 : *txt contains datas
u8Function = 2 : *txt contains instructions
--------------------------------------------------------------------*/
void LcdWrite(U8 u8Function,U8 *au8String)
{
U8 u8InstData,u8Upper,u8Lower;

/* datas */
if (u8Function == 1)
{
u8InstData = 0 | RS & ~RW;
}

/* instructions */
if (u8Function == 2)
{
u8InstData = 0 & ~RS & ~RW;
}

/* Send the chain to the LCD display */
while (*au8String !=0)
{
u8Upper = *au8String & 0xF0 | u8InstData; /* RS=1 */
u8Lower = (*au8String << 4) & 0xF0 | u8InstData; /* RS=1 */

LCD_PORT = u8Upper | E;
Pause ();
LCD_PORT = u8Upper & E;
Pause ();
LCD_PORT = u8Lower | E;
Pause ();
LCD_PORT = u8Lower & E;
Pause ();

au8String++; /* next character */
}
}


/*-------------------------------------------------------------------
Set the cursor position on the LCD display
HLCD_LcdLocate (U8 u8Column, U8 lcd_line)
u8Column : column number
u8Line : line number
--------------------------------------------------------------------*/
void HLCD_Locate (U8 u8Column, U8 u8Line)
{
U8 u8DD_RAM[2];

u8DD_RAM[0] = 0x80 | (u8Line-1)*0x40 | u8Column-1;
u8DD_RAM[1] = 0;
LcdWrite(2,u8DD_RAM);
}


/*-------------------------------------------------------------------
Convert a digital value into an ASCII string
HLCD_DisplayValue (U32 u32Value, U8 u8NumberOfIntegerDigits, U8 u8NumberOfDecimalDigits)
u32Value = 32 bits Value to display
u8NumberOfIntegerDigits = Number of interger digits.
If this number is higher than the number of integer
digits, it will display the non significant '0'
u8NumberOfDecimalDigits = Number of decimal digits
--------------------------------------------------------------------*/
void HLCD_DisplayValue (U32 u32Value, U8 u8NumberOfIntegerDigits, U8 u8NumberOfDecimalDigits)
{
U8 u8Size; /* Size of the table */
U8 au8ValueToDisplay[10]; /* String where is converted the value */
S8 s8CharNumber; /* Character number in the string */

/* Check if the dot has to be displayed and change the Size value */
if (u8NumberOfDecimalDigits == 0)
{
u8Size = u8NumberOfIntegerDigits + u8NumberOfDecimalDigits;
}
else
{
u8Size = u8NumberOfIntegerDigits + u8NumberOfDecimalDigits + 1;
}
/* Last value of the table = 0 */
au8ValueToDisplay[u8Size] = 0;

/* Convert the value to an ASCII string */
for(s8CharNumber=u8Size - 1;s8CharNumber>=0;s8CharNumber--)
{
if ((s8CharNumber == u8Size - 1 - u8NumberOfDecimalDigits) && u8NumberOfDecimalDigits !=0)
{
au8ValueToDisplay[s8CharNumber] = '.';
}
else
{
au8ValueToDisplay[s8CharNumber] = u32Value % 10 + '0';
u32Value /= 10;
}
}

/* Display the string */
LcdWrite(1,au8ValueToDisplay);

}

/*-------------------------------------------------------------------
Display a text to the LCD to the current location
HLCD_DisplayText (U8 *au8Text)
*au8Text = pointer to the text to display
--------------------------------------------------------------------*/
void HLCD_DisplayText (U8 *au8Text)
{
/* Display the string */
LcdWrite(1,au8Text);
}