Added a REAME file.

README.mk

+darwin_stm32_fw                        {#mainpage}
+===============
+
+## Description
+
+This is a custom version of the [Darwin OP robot](http://emanual.robotis.com/docs/en/platform/op/getting_started/) firmware. It supports all the features of the original firmware:
+
+* Dynamixel slave with the computer.
+* Dynamixel master with the dynamixel servos.
+* Gyro and accelerometer interface.
+* Handle LED's and push buttons.
+
+As a difference with the original firmware, this one performs all the motion functions, instead of only acting as a relay between the slave and master dynamixel interfaces. It supports all the orignal motion modules plus some additional ones:
+
+* **Action**: execute a motion that is pre-stored in the memory.
+* **Walk**: execute the parameterized walk function with a balance function.
+* **Joints**: move up to 4 different servo groups with a desired angle, speed and acceleration.
+* **Head tracking**: point the head to a desired position using PID controllers.
+* **Gripper**: control a [custom gripper]() to open and close it, if available.
+
+In addition, this firmware also supports a second dynamixel master port which can be used to connect additional sensors or servos without affecting to the performance of the existing master bus.
+
+## Dependencies
+
+This package requires of the following system libraries and packages
+
+* [cmake](https://www.cmake.org "CMake's Homepage"), a cross-platform build system.
+* [git](https://git-scm.com/), opensource distributed version control system.
+* [gcc-arm-none-eabi](https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-rm/downloads), ARM GCC crosscompiler.
+* [openocd](http://openocd.org/), general tool to download programs and debug them.
+
+All this packages can be installed in Ubuntu using the apt-get install command.
+
+This package also requires of the following STM32 libraries:
+
+* [stm32_hal](https://gitlab.iri.upc.edu/humanoides/tools/stm32_hal), set of header and source files for the HAL (Hardware Abstraction Layer) library of the STM32 microcontrollers, as well as configuratin scripts.
+* [stm32_libraries](https://gitlab.iri.upc.edu/humanoides/tools/stm32_libraries), a set of libraries for the STM32 family of microcontrollers.
+
+This STM32 libraries are integrated as submodules in this GIT repository.
+
+## Compilation and installation
+
+Download this repository and checkout version *new_version*.
+
+``` git clone ssh://git@gitlab.iri.upc.edu:2202/humanoides/tools/stm32_libraries.git -b new_version ```
+
+Initialize the submodules by executing the following command inside:
+
+``` git submodule init ```
+
+and update them with:
+
+``` git submodule update --remote```
+
+Create a build folder inside the main repository folder:
+
+``` mkdir build ```
+
+Inside the build folder execute the following commands:
+
+``` cmake .. ```
+
+``` make ```
+
+In case no errors are reported, the generated file will be located in the build folder.
+
+## Download
+
+
+
+## Disclaimer
+
+Copyright (C) 2009-2018 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
+
+This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair  or correction.
+
+In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
+
+You should have received a copy of the GNU Lesser General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>
+