The action module cast the value to a signed type.

Modified the usart4 module for the F4 family to use the UART data structures insead of the USART ones.

Changed the lont int variables to long long int to avoid undesired overflow.

Added a return value to the function to read servo registers.

Solved a bug in the reception timeout: It was continually updated so when there was an error, the main loop got stuck.

Added two bits to the control register of the dynamixel manager.

Added a dummy implementation of these functions.

Added the initialization of the bulk and sync period counts.
Solved a bug in the add_device function for the sync and bulk.
Made conditional the generation of dynamixel packets for the enable and disable functions.

Moved the static num_dev_done variable from the bulk and sync read done functions to the master data structure.

Solved a bug in the functions for the sync and bulk operations (the number of servos read was not reaset when the operation was done or there was an error.

Solved a bug in the write function when updating the walk parameters (the ram_offset was used).
The walk move and time parameters are initialized the first time the pre_prodcess function is called.