Solved a problem with the RAM window detection.

Added the comm module to handle slave communications.

When the page 0 is loaded, a default value of 32 is loaded to the compliance slope.

Solved a problem with the IMU enable and disable functions.

Solved a syncrhonization problem with the dynamixel master interface.

Changed the conversion function of the compass.

Aolved a bug with the NVIC peripheral.

Fully implemented an tested the accelerometer.
IMU integrated into the dynamixel interface.

Implemented the conrol over the LED's.
Implemented the control over the pushbuttons.

Added function to the motion mamager to transform between physical magnitudes and controller values, and viceversa.
Added functions to scan and identify the servos in the initialization functions.
Minor changes in the motion files.
Added a header file with the dynamixel servo register map.

Solved the problem with the motion pages.

Modified the linker script to account for the motion pages section (128k)

Solved a problem in the dynamixel slave module when there was no answer. It stopped working.
Added an initial ram module.

Only the accelerometer paret is partially implemented.

First working version of the darwin_robot firmware

Solved some minor bugs.