It's kind of a funny twist of fate but the Tumanako people got interested in the code for this motor controller since we've already got some FOC related code in there. I just signed up for their mailing list and posted a message explaining that the FOC code is pretty much untested. But still, it might be cool if the two projects sort of helped each other out. If you haven't heard of them then check out their site (referenced below). They're up to some pretty cool stuff too.
Here is their site:
SourceForge.net: tumanako