Some other stuff for RTOS.
Switched to C++ constructioin.
Change signatures from & to *.
- C++ overhead optimizations.
- Logger class.
- NOT works: flash loses all data due to unsynchronized access.
- Fix in ff.h file for better c++ compatibility.
- all general includes moved  to conf file.
- different handlers for several fault-ISRs
- Log now works (but with some periodical crap... still need to be investigated...
- ready for IMU... (but still don't have one)