Code updated to compile on recent versions of avr-gcc

The code has been updated to compile on recent versions of avr-gcc.
Depricated signal names have been replaced by their nondepricated
counterparts, and the nonconstant pointers to program memory arrays
have been deleted.  Instead of the pointers, the code uses the array
names instead.

Conflicts:
	firmware/Makefile
	firmware/iv.hex