Kompass-Modul / Atmega128 umstellung

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Vor dem Senden solltest du warten, bis die Daten raus sind. Sonst stopfst du x-mal Zeug in UDR rein, bevor's verdaut ist. Im Handbuch sind auch Codeschnippsel:

/* Wait for empty transmit buffer */
while (!( UCSR0A & (1<<UDRE0)))
;
/* Put data into buffer, sends the data */
UDR0 = data;

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/* Interrupt vectors (byte addresses) */

#define SIG_INTERRUPT0		_VECTOR(1) /* External Interrupt Request 0 */
#define SIG_INTERRUPT1		_VECTOR(2) /* External Interrupt Request 1 */
#define SIG_INTERRUPT2		_VECTOR(3) /* External Interrupt Request 2 */
#define SIG_PIN_CHANGE0		_VECTOR(4) /* Pin Change Interrupt Request 0 */
#define SIG_PIN_CHANGE1		_VECTOR(5) /* Pin Change Interrupt Request 1 */
#define SIG_INPUT_CAPTURE3	_VECTOR(6) /* Timer/Counter3 Capture Event */
#define SIG_OUTPUT_COMPARE3A	_VECTOR(7) /* Timer/Counter3 Compare Match A */
#define SIG_OUTPUT_COMPARE3B	_VECTOR(8) /* Timer/Counter3 Compare Match B */
#define SIG_OVERFLOW3		_VECTOR(9) /* Timer/Counter3 Overflow */
#define SIG_OUTPUT_COMPARE2	_VECTOR(10) /* Timer/Counter2 Compare Match */
#define SIG_OVERFLOW2		_VECTOR(11) /* Timer/Counter2 Overflow */
#define SIG_INPUT_CAPTURE1	_VECTOR(12) /* Timer/Counter1 Capture Event */
#define SIG_OUTPUT_COMPARE1A	_VECTOR(13) /* Timer/Counter1 Compare Match A */
#define SIG_OUTPUT_COMPARE1B	_VECTOR(14) /* Timer/Counter1 Compare Match B */
#define SIG_OVERFLOW1		_VECTOR(15) /* Timer/Counter1 Overflow */
#define SIG_OUTPUT_COMPARE0	_VECTOR(16) /* Timer/Counter0 Compare Match */
#define SIG_OVERFLOW0		_VECTOR(17) /* Timer/Counter0 Overflow */
#define SIG_SPI			_VECTOR(18) /* Serial Transfer Complete */
#define SIG_USART0_RECV		_VECTOR(19) /* USART0,Rx Complete */
#define SIG_USART1_RECV		_VECTOR(20) /* USART1,Rx Complete */
#define SIG_USART0_DATA		_VECTOR(21) /* USART0 Data Register Empty */
#define SIG_USART1_DATA		_VECTOR(22) /* USART1 Data Register Empty */
#define SIG_USART0_TRANS	_VECTOR(23) /* USART0,Tx Complete */
#define SIG_USART1_TRANS	_VECTOR(24) /* USART1,Tx Complete */
#define SIG_EEPROM_READY	_VECTOR(25) /* EEPROM Ready */
#define SIG_COMPARATOR		_VECTOR(26) /* Analog Comparator */
#define SIG_SPM_READY		_VECTOR(27) /* Store Program Memory Ready */

Und das bekommst du wie gewohnt mir <avr/io.h>