diff --git a/src/mtn_downloader/CMakeLists.txt b/src/mtn_downloader/CMakeLists.txt
new file mode 100755
index 0000000000000000000000000000000000000000..0fcb718b0fc6d3253c066f0773257632b6fd533c
--- /dev/null
+++ b/src/mtn_downloader/CMakeLists.txt
@@ -0,0 +1,35 @@
+# locate the necessary dependencies
+FIND_PACKAGE(iriutils REQUIRED)
+FIND_PACKAGE(comm REQUIRED)
+FIND_PACKAGE(robotis_bin_parser REQUIRED)
+FIND_PACKAGE(robotis_mtn REQUIRED)
+FIND_PACKAGE(robotis_mtn_parser REQUIRED)
+
+# add the necessary include directories
+INCLUDE_DIRECTORIES(.)
+INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(${comm_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(${robotis_bin_parser_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(${robotis_mtn_parser_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(${robotis_mtn_INCLUDE_DIR})
+
+# application source files
+SET(sources mtn_downloader.cpp)
+# application header files
+SET(headers mtn_downloader.h)
+
+# create the executable file
+ADD_EXECUTABLE(mtn_downloader ${sources})
+
+# link necessary libraries
+TARGET_LINK_LIBRARIES(mtn_downloader ${iriutils_LIBRARY})
+TARGET_LINK_LIBRARIES(mtn_downloader ${comm_LIBRARY})
+TARGET_LINK_LIBRARIES(mtn_downloader ${robotis_bin_parser_LIBRARY})
+TARGET_LINK_LIBRARIES(mtn_downloader ${robotis_mtn_parser_LIBRARY})
+TARGET_LINK_LIBRARIES(mtn_downloader ${robotis_mtn_LIBRARY})
+
+INSTALL(TARGETS mtn_downloader
+ RUNTIME DESTINATION bin
+ LIBRARY DESTINATION lib/iridrivers
+ ARCHIVE DESTINATION lib/iridrivers)
+
diff --git a/src/mtn_downloader/mtn_downloader.cpp b/src/mtn_downloader/mtn_downloader.cpp
new file mode 100755
index 0000000000000000000000000000000000000000..5ec37cc469377d13665c692ea8d8d2e889835c55
--- /dev/null
+++ b/src/mtn_downloader/mtn_downloader.cpp
@@ -0,0 +1,282 @@
+#include "eventexceptions.h"
+#include "eventserver.h"
+#include "exceptions.h"
+#include "rs232.h"
+#include "mtn_file_parser.hpp"
+#include "robotis_bin_parser.h"
+#include "mtn_exceptions.h"
+#include <stdlib.h>
+#include <getopt.h>
+#include <string.h>
+#include <stdio.h>
+#include <iostream>
+#include <sys/stat.h>
+
+const unsigned char bootloader_ping='#';
+const unsigned char bootloader_ack='\n';
+const unsigned char bootloader_load[]="l 0x0001E000\0";
+const unsigned char bootloader_go='g';
+
+#define MTN_FILE_SIZE (128*1024)
+
+void show_help(char *name)
+{
+ std::cout << "Usage: " << name << "-d <serial device> -f <firmware file> -p <protocol> [-h]" << std::endl;
+ std::cout << " -d serial_device Linux serial device used to communicate" << std::endl;
+ std::cout << " -m motion_file desired motion file in either .mtn or .bin format" << std::endl;
+ std::cout << " -h shows this help" << std::endl;
+}
+
+int main(int argc,char *argv[])
+{
+ // serial port objects
+ CEventServer *event_server=CEventServer::instance();
+ CRS232 serial_port("mtn_serial_dev");
+ std::list<std::string> events;
+ TRS232_config serial_config;
+ long int num_data=0,i=0;
+ bool end=false;
+ int option;
+ std::string opt_device,opt_mtn_file,mtn_ext;
+ // binary file variables
+ int bin_file_fd;
+ struct stat st;
+ unsigned char binary_file[MTN_FILE_SIZE];
+ long int downloaded_size=0;
+ long int start_address=0;
+ long int binary_size=0;
+ int block_size=0,count=0;
+ // bootloader variables
+ unsigned char bootloader_data[MTN_FILE_SIZE];
+ bool bootloader_connected=false;
+ unsigned char checksum=0x00;
+ // mtn file parser
+ MTN::CMtnFileParser mtn_parser;
+ CRobotisMtn motions;
+ CBinFileParser bin_parser;
+ std::string bin_filename;
+ std::string servo_type("AX-12A");
+
+ // configuration information for the serial device
+ serial_config.baud=57600;
+ serial_config.num_bits=8;
+ serial_config.parity=none;
+ serial_config.stop_bits=1;
+
+ memset(binary_file,0xFF,MTN_FILE_SIZE);
+
+ // parse the input arguments
+ while((option = getopt(argc, argv, "hd:m:")) != -1)
+ {
+ switch(option)
+ {
+ case 'h':// show help message
+ show_help(argv[0]);
+ break;
+ case 'd':// select serial device
+ std::cout << "Output device: " << optarg << std::endl;
+ opt_device=std::string(optarg);
+ break;
+ case 'm':// select motion file
+ std::cout << "Motion file: " << optarg << std::endl;
+ opt_mtn_file=std::string(optarg);
+ break;
+ }
+ }
+
+ // check that the two arguments have been entered
+ if(opt_device.size()!=0)
+ {
+ if(opt_mtn_file.size()==0)
+ {
+ std::cout << "No motion file has been specified" << std::endl;
+ show_help(argv[0]);
+ return 0;
+ }
+ else
+ {
+ try{
+ // open the serial port
+ serial_port.open((void *)&opt_device);
+ // configure the serial port
+ serial_port.config(&serial_config);
+ // get the recevice event
+ events.push_back(serial_port.get_rx_event_id());
+ // convert the hex file to a binary file
+ if(opt_mtn_file.size()!=0)
+ {
+ // check if the motion file is in .mtn format
+ if(opt_mtn_file.find(".mtn")!=std::string::npos)
+ {
+ std::cout << servo_type << std::endl;
+ try{
+ mtn_parser.parse(opt_mtn_file.c_str());
+ mtn_parser.get_motions(motions);
+ for(i=0;i<motions.get_num_servos();i++)
+ motions.set_motor_type(i,servo_type);
+ bin_parser.set_motions(motions);
+ bin_filename=opt_mtn_file;
+ bin_filename.replace(bin_filename.find(".mtn"),std::string(".mtn").length(),".bin");
+ bin_parser.serialize(bin_filename.c_str());
+ }catch(CMtnException &e){
+ std::cout << e.what() << std::endl;
+ return 0;
+ }
+ // open adn read the generated binary file
+ if((bin_file_fd=::open(bin_filename.c_str(),O_RDONLY))==-1)
+ {
+ std::cout << "Impossible to read the binary file" << std::endl;
+ return 0;
+ }
+ }
+ else
+ {
+ if((bin_file_fd=::open(opt_mtn_file.c_str(),O_RDONLY))==-1)
+ {
+ std::cout << "Impossible to read the binary file" << std::endl;
+ return 0;
+ }
+ }
+ // check the binary file
+ stat(bin_filename.c_str(), &st);
+ if(st.st_size!=MTN_FILE_SIZE)
+ {
+ ::close(bin_file_fd);
+ std::cout << "Incorrect motion file size. It should be 128kB long" << std::endl;
+ return 0;
+ }
+ // read the file
+ if(::read(bin_file_fd,binary_file,MTN_FILE_SIZE)==-1)
+ {
+ ::close(bin_file_fd);
+ std::cout << "Error while reading the motion file" << std::endl;
+ return 0;
+ }
+ // close the file
+ ::close(bin_file_fd);
+ binary_size=MTN_FILE_SIZE;
+ start_address=0;
+ }
+ std::cout << "Switch off device power and turn it on" << std::endl;
+ // ping the device
+ while(!bootloader_connected)
+ {
+ try{
+ event_server->wait_all(events,20);
+ num_data=serial_port.get_num_data();
+ serial_port.read((unsigned char *)bootloader_data,num_data);
+ bootloader_data[num_data]='\0';
+ printf("%s",bootloader_data);
+ fflush(stdout);
+ for(i=0;i<num_data;i++)
+ {
+ if(bootloader_data[i]=='#')
+ {
+ count++;
+ if(count==5)
+ bootloader_connected=true;
+ }
+ }
+ }catch(CEventTimeoutException &e){
+ // do nothing and retry
+ serial_port.write((unsigned char *)&bootloader_ping, 1);
+ }
+ }
+ /* send acknowledgment to the device*/
+ serial_port.write((unsigned char *)&bootloader_ack, 1);
+ while(!end)
+ {
+ try{
+ event_server->wait_all(events,300);
+ num_data=serial_port.get_num_data();
+ serial_port.read(bootloader_data,num_data);
+ bootloader_data[num_data]='\0';
+ printf("%s",bootloader_data);
+ fflush(stdout);
+ }catch(CEventTimeoutException &e){
+ // the flash has been properly erased
+ end=true;
+ }
+ }
+ end=false;
+ // start the download
+ serial_port.write((unsigned char *)&bootloader_load,strlen((char *)bootloader_load));
+ serial_port.write((unsigned char *)&bootloader_ack,1);
+ while(!end)
+ {
+ try{
+ event_server->wait_all(events,300);
+ num_data=serial_port.get_num_data();
+ serial_port.read(bootloader_data,num_data);
+ bootloader_data[num_data]='\0';
+ printf("%s",bootloader_data);
+ fflush(stdout);
+ }catch(CEventTimeoutException &e){
+ // the flash has been properly erased
+ end=true;
+ }
+ }
+ // compute the binary file checksum
+ for(i=0;i<binary_size;i++)
+ checksum+=binary_file[start_address+i];
+ // send the binary file in 64 byte segments
+ while(downloaded_size < binary_size)
+ {
+ usleep(1000);
+ block_size=binary_size-downloaded_size;
+ if(block_size>64)
+ block_size=64;
+ serial_port.write(&binary_file[start_address+downloaded_size],block_size);
+ downloaded_size+=block_size;
+ printf("\rDownloading Firmware (%ld/%ld byte)", downloaded_size, binary_size);
+ fflush(stdout);
+ }
+ // send the checksum
+ serial_port.write(&checksum,1);
+ std::cout << std::endl << "Download complete" << std::endl;
+ end=false;
+ while(!end)
+ {
+ try{
+ event_server->wait_all(events,300);
+ // there has been an error
+ num_data=serial_port.get_num_data();
+ serial_port.read(bootloader_data,num_data);
+ bootloader_data[num_data]='\0';
+ printf("%s",bootloader_data);
+ }catch(CEventTimeoutException &e){
+ // no error to report
+ end=true;
+ }
+ }
+ // start the loaded program
+ serial_port.write((unsigned char *)&bootloader_go,1);
+ serial_port.write((unsigned char *)&bootloader_ack,1);
+ end=false;
+ while(!end)
+ {
+ try{
+ event_server->wait_all(events,300);
+ // there has been an error
+ num_data=serial_port.get_num_data();
+ serial_port.read(bootloader_data,num_data);
+ bootloader_data[num_data]='\0';
+ printf("%s",bootloader_data);
+ }catch(CEventTimeoutException &e){
+ // no error to report
+ end=true;
+ }
+ }
+ serial_port.close();
+ }catch(CException &e){
+ /* handle exceptions */
+ std::cout << e.what() << std::endl;
+ }
+ }
+ }
+ else
+ {
+ std::cout << "No serial device specified" << std::endl;
+ show_help(argv[0]);
+ }
+}