Thanks for the sanity check Henrik.

One of the reasons I chose 8kHz switching frequency is that I need to drive the H-Bridge via opto-couplers to achieve isolation between mains power and the controller.
I have been able to achieve sub-10uS opto rise and fall times but need to apply 12uS dead-time for the PWM signal to alleviate MOSFET shoot-through. Increasing the switching frequency just isn't possible without losing a heap of top motor speed.

After careful consideration I believe I might have been setting my sights a bit high on the final performance specifications. I have pulled back on the desired minimum rotational speed and will set it somewhere that is workable within the limits of the sample rate and the number of encoder pulses.

I have also decided not to incorporate the RPM display into the main 18F2431 function. If need be I will add the RPM display at a later date using a dedicated setup.

So now it is a matter of getting back to setting up the timer/counter arrangement and implementing the incPID routine. I will keep you updated with my progress.

Cheers
Barry
VK2XBP