Added the CRC

taken from the website barrgroup
Added Documentation

added all except for one
- > need eric to add documentation to the last function

** change anything that you seem needed
Added documentation for helper.h

description added for helper.h
Merge branch 'eric' into dev

Conflicts:
	helper.cpp
in the middle of fixing project; crc is dead
fixed the crc not included bugs & little bugfix for transmit