Added documentation structure to the dynamixel_base moudle.

dynamixel_base/Makefile

@@ -16,6 +16,8 @@ UTILS_PATH = ../utils
 
 INCLUDE_DIRS = -I./include/ -I$(COMM_PATH)/include -I$(UTILS_PATH)/include
 
+DOC_DIR = ./doc
+
 TCHAIN_PREFIX=arm-none-eabi-
 
 CC = $(TCHAIN_PREFIX)gcc
@@ -75,6 +77,8 @@ $(DYNAMIXEL_OUT_M3): mkdir_build $(DYNAMIXEL_M3_OBJS)
 	mkdir -p lib
 	$(AR) $(ARFLAGS) $@ $(DYNAMIXEL_M3_OBJS)
 
+doc: 
+	doxygen $(DOC_DIR)/doxygen.conf 
 clean:
 	rm -f $(DYNAMIXEL_M4_FPU_OBJS)
 	rm -f $(DYNAMIXEL_M0_OBJS)
@@ -82,3 +86,6 @@ clean:
 	rm -f $(DYNAMIXEL_M3_OBJS)
 	rm -rf lib
 	rm -rf build
+	rm -rf doc/html
+
+.PHONY: all clean doc

dynamixel_base/doc/doxygen_project_name.conf

+PROJECT_NAME = "Dynamixel protocol implementation library"

dynamixel_base/doc/index.html

+<META HTTP-EQUIV="Refresh" CONTENT="0; URL=html/index.html">

dynamixel_base/doc/main.dox

+/*! \mainpage Dynamixel protocol implementation library
+
+  \section Installation
+
+  \subsection Pre-Requisites
+
+  This package requires of the following libraries and packages
+         - STM32 HAL library.
+         - Util library.
+	 .
+
+  \subsection Compilation
+
+  Just download this package, uncompress it, and execute
+   - make 
+   .
+  to obtain the static libraries for all processor families (in this case called 
+  <em>utils_m0.a</em> <em>utils_m0plus.a</em> <em>utils_m3.a</em> 
+  <em>utils_m4_fpu.a</em>).
+
+  To generate this documentation type
+       - make doc
+       .
+
+  The files in the <em>build</em> directory are genetated by <em>make</em> and 
+  can be safely removed. 
+
+  \section License
+
+  This package is licensed under a
+  <a href="http://www.gnu.org/licenses/lgpl.html">
+    LGPL 3.0 License</a>.
+
+  \section Disclaimer
+
+   This is free software: you can redistribute it and/or modify
+   it under the terms of the GNU Lesser General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU Lesser General Public License for more details.
+
+   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/>.
+
+ */