halfword fifo is not possible because DMA controller only copes with little-endian addressing

main cleaned up and half word fifo added to i2c - need to fix

i2c dma fifo enabled

uart dma init cleaned up a bit

imu datasheets added

minior fix with bluetooth module lib

imu dma communication works

new imu lib and fixed an error in old one

bootloader configured for stm32f407vg

trying to write but not succesfull