Most notably, proper field-oriented control is now implemented, and the code is now interrupt-free.
Nick's blog has some hardware details about the analog-hall-sensor based position sensor. The schematic for the board:
And the layout:
The firmware doesn't run on the above board out of the box, you'll have to scramble some pins definitions around in main() to make it work.
Expect a more detailed update either here or on Nick's site sometime in the near future.