Found duplicate class with subtle differences, both used at the same time, added fixme to remind to fix this later

Fixed copyright notice of a file taken from miosix/arch/common/drivers, added static to prevent some variables from being global

Enabled fifo by setting DMDIS and configured MBURST to read 4 bytes at once to optimize bus requests

Increased priority of the Scheduler thread, added the option to synchronize tasks, removed unnecessary cyclic in Anakin

Fixed a clock glitch being shown on the SPI1 SCK seen on the logic analyzer and caused by an usleep between configuring the GPIOs as alternate function and enabling the SPI in BusTemplate

Set the SPI1 frequency considering the sensor requirements, added comments about CS timings, fixed bug in BusTemplate not disabling interrupts when it should