Not much achieved today, but I did manage to configure and test the limit switch inputs into the MESA card, it seems to help when you assign the correct pins to what you are doing...who knew???
I also used an unfinished servo drive as a programming device to program four chips that I had previously programmed, but had not set the brown out detection and also they had the original firmware, the firmware I am now using is the smc3aivan.hex file that uses a D parameter in the servo loop, the original Elm Chan firmware was a PI controller only. That PID firmware is hosted here on CNCZone in one of the Elm Chan threads so is available to everybody.