Still got a long way to go before it can compare with the UHU-chip, it's quite impressive how much Uli has been able to get that little AVR to do - without hardware encoder counter. But yeah, the long term plan is to be able to replace the UHU chip on my HP-UHU boards with this one - but that's still a long way to go.

My "developing platform" is exactly what you have, a 18F2431 and a LMD18200. I can't believe that the LMD18200 still lives after all the abuse I've put it thru.... Still using CCP1 for the PWM here but will change over to PCPWM module after re-designing the board.

So, how's your project going? What type of control, position, velocity? Command source, ananlog, step- and direction, high level serial commands?

/Henrik.