Robotis CM-900 Dynamixel Controller (for Robotic)

Controller module based 32-bit ARM Cortex-M3. This module is open source, so that both the firmware, schematic or supporting the program can be downloaded at:
https://github.com/robotis-pandora/ROBOTIS_CM9_Series

On the CM-900 controller can be programmed using C language and using Arduino Style.
CM-900 is an embedded board based on STMicroelectronics’ STM32F103C8 Cortex-M3 MCU.

H/W Specification

• CPU : STM32F103C8 (ARM Cortex-M3)
• Op Voltage : 5V~24V( USB 5V, DXL 12V, XL-Series 7.4V)
• I/O : GPIO 32
• Timer : 8 ( 16bit )
• Analog In(ADC) : 10 ( 12bit )
• Flash : 64 Kbytes
• SRAM : 20 Kbytes
• Clock : 72Mhz
• USB : 1 ( 2.0 FullSpeed )
• CAN : 1
• USART : 3
• SPI : 2
• I2C(TWI) : 2
• Debug : JTAG & SWD
• DMA : 7ch
• 3 Pin TTL : 2
• 4 Pin RS485 : 2
• 3 Pin XL-Serise : 1
• SIZE : 60mm X 54 mm X 1.6 mm