I've never really worked with a lookup table before,so I'm not at all sure about my code.There are definately some syntactical errors. But here it is..

#include<reg51.h>
#include<stdio.h>
# define servoport P2
static unsigned char ms_tenth_countdown;

// dynamically setup table.
// Indexed top down.
// setup this table glitchlessly (IRQ save).
// (located absolutely at the start of a 256 byte block)
unsigned char __xdata __at(0x0000) table_P2_over_time[200 + 1];

table_P2_over_time[200 + 1]={0x0f,0x0f,0x0f,0x0f,0x0f,0x0f,0x0f,0x0f,0x0f,0x0f,0x0d,0x0d,0x0d,0x0d,0x09,0x09,0x09,0x09,0x09,0x09,0x09,0x08,0x08,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}
// for executing the function servo(23,10,14,21); of my previous code.

void Timer0_ISR (void) interrupt 1 {

    // assuming P2 is only used for servos.
    P2 = table_P2_over_time [ ms_tenth_countdown ];

    if (!--ms_tenth_countdown)
        ms_tenth_countdown = 200;

    TF0 = 0;
}

void main(void)
{TMOD=0x02;
IE=0x82;
TH0=0xA3;
servoport=0;
ms_tenth_countdown=200;
TR0=1;
for(;;);
}

 

This code is not getting compiled in Keil. The error shown is 'missing ";" before "_at" ', which is probably due to the difference in the syntax of Keil and SDCC.
Problems I am facing:
1) I searched for the right syntax for initializing the lookup in Keil but couldn't find it.
2)The above code is only for one motion( or rather, one position) of the four servos (i.e servo(23,10,14,21)). How do I modify this code for the sequential motion of all the servos?(in other words, for achieving this part of my previous code):

{servo(21,10,14,23);
servo(20,12,14,23);
servo(20,14,14,23);
servo(20,17,14,23);
servo(20,17,17,23);
servo(20,14,14,16);
servo(20,10,12,16);
servo(21,10,14,16);}

 

My guesses for achieving the above are:
i] Build different lookup tables for each position. Each of them with a different name and a different address.
ii]build a switch( ) statement in the ISR. For each position, a variable is given a particualar value(in the main())and that variable is used in the switch( ) function in the ISR.

3) Since "ms_tenth_countdown" is counting down , i.e from 200 to 0, should my lookup table be inverse of what it currently is?