Initialized the initial angle (511) and speed (0) of the emmulated servos, to avoid invalid servo motions when initializing the module.

General changes to the single ended interface to handle the simulated servos. the differential interface is not yet modified.

Added a ports_loop() function to periodically read the status of the GPIO ports and store it in the block read memory.

Changed the interrupt driven time delay in the compass module to polling. This solved a blocking condition when both the ADC and the compass modules were enabled at the same time.

Added additional registers with all the available read data in a contiguous memory space to speed up the read operations.
Modified the ADC, compass and GPIO ports modules to copy the data to the new memory space.

The reception flag was not properly reset in the TTL and USB UARTS.
The baudrate was not properly updated in the TTL and USB UARTS.
The status of the GPIo pins was not returned properly.

Solved a bug in the computation of the ADC period.

Added the patches and the necessary modifications to the Makefile to download, patch and program the bootloader.

Modified the Makefile to select between the dac and the uart_usb, and the PWM and the uart_ttl, which share hardware resources.

Changed the control and status interface of all the modules.

Increased the communication speed to 1Mbps and solved some communication problesm due to interrupt priorities.

Changed the data types using the width specification (i.e. uint16_t for unsigned short int)

Addesd support for the GPIO interface.

Basic dynamixel slave interface working.