[mcm_xyz]

I believe you made the right call to ditch the sine table. Really just a truth table is probably the best. for whatever position the shaft currently is in you should always have the capability to apply full torque. My controller used 3 hall sensors and it was very easy to just look at the on/off status of all three input lines and pick one of six valid combinations. Very little overhead for this approach.

I cant wait to get a chance to try this out.
thanks
Marvin

Thanks Marvin for your comments and suggestions. I am still making the code better and better. It takes about 15K from the controller so far with 4K reserved for bootloader so mainly 11K for app. If can be fitted to ATMega 164 if needed but the price even for 1284 is quite the same... I will try to make a bootloader with firmware update capabilities. This way we can ditch the ISP port from the board. Also I might try to add a current detector circuitry, making this way this project able to compete with commercial ones...

Mihai