cubemx timers added

Merge remote-tracking branch 'origin/master'

control with steadystate gains

us polling timer added to util

measurements with IMU

doxygen adc modul update

status led modifier functions speed up with direct register access

Merge pull request #24 from tardani95/sw_adc adc timer corrected according to measurements

adc timer corrected according to measurements

Merge pull request #23 from tardani95/sw_adc not polling adc state machine for IR sensor