Merged with linalgebra_fix and new folder structure
UART buffer extendend and made explictly cyclic.

There is still a bug when the rate of input to the buffer [Byte/s] is to high: 5000  [Byte/s] seems to be ok but 12'500 [Byte/s]  seems to be too much. This causes the UART buffer to fill faster than the UART Interrupt can send it to the bus. A warning in the comments and the lighting up of the RED led shows that something went wrong.
Shut off another IMU related command for esier debugging via JTAG.

Commands related to the IMU tend to block execution when the module is attached via JTAG.
Added defines for compatibiltity with DFAtool build