Added an initial version of the README file.

README.md

+# Description
+This repository contains several libraries intended for the STM32 micro-
+processors. 
+
+This repository also includes implementations of several communication 
+peripherals compatible with the Comm library for several families of the STM32
+micro-processors.
+
+This libraries include:
+
+## Utils
+An implementation of a simple circular buffer and a placeholder to handle time
+functions using a hardware timer.
+
+## Memory
+A set of data structures that simplifies the managment of the memory space of a 
+Dynamixel slave. It allows to allocate a specific ammount of memory either in 
+RAM or EPPOM, and also at a pre-defined position or anywhere in the available 
+memory space.
+
+It also provides user defined read and write callback functions to further 
+simplify read and write operations started from the bus master.
+
+## Comm
+A generic communication device which allows working either in blocking mode, in
+interrupt mode or DMA mode with almost any communcation peripheral in the STM32. 
+
+It provides a set of user defined callback functions, both on the low level 
+peripheral side and also in the high level application side, which simplifies 
+handling the communciation channel. 
+
+## Dynamixel base
+This library implements the whole Dynamixel protocol, both version 1 and 2, and
+also as a master and as a slave. This implementation is idependant of the 
+communication channel because it uses the comm library.
+
+All the operations of both supported versions are available.
+
+## Dynamixel manager
+An experimental library designed to simplify the bus access to the shared 
+Dynamixel bus by several heterogeneous modules. This library allows to configure 
+the necessary transactions (READ, WRITE, SYNC_READ, SYNC_WRITE, BULK_READ or
+BULK_WRITE) on several dynamixel buses. 
+
+Additionally, each transaction can be configured as periodic or one shot.
+
+
+# Dependencies
+
+