Driver for firing multiple i2c sonars individually

New driver for firing up to six i2c sonars to our pixhawk. Based on how much sonars are detected it choses an appropriate firing scheme to miimise interference. Simply connect the i2c sonars through i2c splitter(s) and make sure they each are assigned the correct i2c adress as noted in the driver. 

Status: Compilation is succesfull and testing has been done with the DIY/PX4Firmware fork, but not yet the master fork.
So basically, we need to split it up into two functions, each with its work_queue.
What is it exactly waiting for? The  reinterpret_cast??
And do you still want to keep the original conversion interval or the new cycle time interval?