combine two existing firmware codebases

Embedded C/C++ developer with AVR experience required to combine two existing firmware codebases. Both firmwares are written for at90usb646 microcontroller based hardware, and need to be combined into a single codebase. First firmware is written in C using the LUFA USB framework and comes with a Windows application and driver bundle. Second firmware is an Arduino sketch using the "Teensyduino" libraries, that performs PID motor speed control. The Arduino sketch functionality needs to be ported to the LUFA codebase, and then functionally tested. Experience with AVR and avr-gcc is essential, Arduino & LUFA experience are both desirable.