diff --git a/boards/opencm9-04/Makefile b/boards/opencm9-04/Makefile
new file mode 100755
index 0000000000000000000000000000000000000000..f8fcbb53a06595771dae356338a7bf2c0673734d
--- /dev/null
+++ b/boards/opencm9-04/Makefile
@@ -0,0 +1,3 @@
+MODULE = board
+
+include $(RIOTBASE)/Makefile.base
diff --git a/boards/opencm9-04/Makefile.features b/boards/opencm9-04/Makefile.features
new file mode 100755
index 0000000000000000000000000000000000000000..9c388d7b4b742ae46d9c78010b3346271fdf052a
--- /dev/null
+++ b/boards/opencm9-04/Makefile.features
@@ -0,0 +1,11 @@
+# Put defined MCU peripherals here (in alphabetical order)
+FEATURES_PROVIDED += periph_cpuid
+FEATURES_PROVIDED += periph_gpio
+FEATURES_PROVIDED += periph_timer
+FEATURES_PROVIDED += periph_uart
+
+# Various common features of Nucleo boards
+FEATURES_PROVIDED += cpp
+
+# The board MPU family (used for grouping by the CI system)
+FEATURES_MCU_GROUP = cortex_m3_1
diff --git a/boards/opencm9-04/Makefile.include b/boards/opencm9-04/Makefile.include
new file mode 100755
index 0000000000000000000000000000000000000000..49dd53ef4d4d2cd293b92094947060325b59f359
--- /dev/null
+++ b/boards/opencm9-04/Makefile.include
@@ -0,0 +1,23 @@
+# the cpu to build for
+export CPU = stm32f1
+export CPU_MODEL = stm32f103cb
+
+# custom linkerscript
+export LINKER_SCRIPT = stm32f103cb_opencm9-04.ld
+
+# custom flasher to use with the bootloader
+export FLASHER = $(RIOTBOARD)/$(BOARD)/dist/robotis-loader.py
+export DEBUGGER =
+export DEBUGSERVER =
+
+export OFLAGS = -O binary
+export HEXFILE = $(ELFFILE:.elf=.bin)
+export FFLAGS =
+export DEBUGGER_FLAGS =
+
+# define the default port depending on the host OS
+PORT_LINUX ?= /dev/ttyACM0
+PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.usbmodem*)))
+
+# setup serial terminal
+include $(RIOTBOARD)/Makefile.include.serial
diff --git a/boards/opencm9-04/board.c b/boards/opencm9-04/board.c
new file mode 100644
index 0000000000000000000000000000000000000000..3e73deabbe28510af67e1eec7a762e22d3ee7e3a
--- /dev/null
+++ b/boards/opencm9-04/board.c
@@ -0,0 +1,39 @@
+/*
+ * Copyright (C) 2017 INRIA
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup boards_opencm9-04
+ * @{
+ *
+ * @file
+ * @brief Board specific implementations for the OpenCM9.04 board
+ *
+ * @author Loïc Dauphin <loic.dauphin@inria.fr>
+ *
+ * @}
+ */
+
+#include "board.h"
+#include "periph/gpio.h"
+#include "log.h"
+
+void board_init(void)
+{
+ /* initialize the CPU */
+ cpu_init();
+
+ /* initialize the board's LED */
+ gpio_init(LED0_PIN, GPIO_OUT);
+ LED0_OFF;
+
+ /* disable bootloader's USB */
+ RCC->APB1ENR &= ~RCC_APB1ENR_USBEN;
+
+ /* configure the RIOT vector table location to internal flash + bootloader offset */
+ SCB->VTOR = LOCATION_VTABLE;
+}
diff --git a/boards/opencm9-04/dist/robotis-loader.py b/boards/opencm9-04/dist/robotis-loader.py
new file mode 100755
index 0000000000000000000000000000000000000000..e67892331ee28c2e10ac1bb6b6ea7ae741f4930b
--- /dev/null
+++ b/boards/opencm9-04/dist/robotis-loader.py
@@ -0,0 +1,146 @@
+#!/usr/bin/env python
+
+'''
+MIT License
+
+Copyright (c) 2014 Gregoire Passault
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+'''
+
+# This script sends a program on a robotis board (OpenCM9.04 or CM900)
+# using the robotis bootloader (used in OpenCM IDE)
+#
+# Usage:
+# python robotis-loader.py <serial port> <binary>
+#
+# Example:
+# python robotis-loader.py /dev/ttyACM0 firmware.bin
+#
+# https://github.com/Gregwar/robotis-loader
+
+import serial
+import sys
+import os
+import time
+
+print('~~ Robotis loader ~~')
+print('')
+print('Please, make sure to connect the USB cable WHILE holding down the "USER SW" button.')
+print('Status LED should stay lit and the board should be able to load the program.')
+print('')
+
+
+# Helper function for bytes conversion
+if sys.version_info[:1][0] == 3:
+ def to_ord(val):
+ return ord(chr(val))
+else:
+ def to_ord(val):
+ return ord(val)
+
+
+# Reading command line
+#if len(sys.argv) != 3:
+# exit('! Usage: robotis-loader.py <serial-port> <binary>')
+#pgm, port, binary = sys.argv
+
+pgm = sys.argv[0]
+port = os.environ["PORT"]
+binary = os.environ["HEXFILE"]
+
+
+def progressBar(percent, precision=65):
+ """Prints a progress bar."""
+
+ threshold = precision*percent / 100.0
+ sys.stdout.write('[ ')
+ for x in range(precision):
+ if x < threshold:
+ sys.stdout.write('#')
+ else:
+ sys.stdout.write(' ')
+ sys.stdout.write(' ] ')
+ sys.stdout.flush()
+
+
+# Opening the firmware file
+try:
+ stat = os.stat(binary)
+ size = stat.st_size
+ firmware = open(binary, 'rb')
+ print('* Opening %s, size=%d' % (binary, size))
+except:
+ exit('! Unable to open file %s' % binary)
+
+# Opening serial port
+try:
+ s = serial.Serial(port, baudrate=115200)
+except:
+ exit('! Unable to open serial port %s' % port)
+
+print('* Resetting the board')
+s.setRTS(True)
+s.setDTR(False)
+time.sleep(0.1)
+s.setRTS(False)
+s.write(b'CM9X')
+s.close()
+time.sleep(1.0);
+
+print('* Connecting...')
+s = serial.Serial(port, baudrate=115200)
+s.write(b'AT&LD')
+print('* Download signal transmitted, waiting...')
+
+# Entering bootloader sequence
+while True:
+ line = s.readline().strip()
+ if line.endswith(b'Ready..'):
+ print('* Board ready, sending data')
+ cs = 0
+ pos = 0
+ while True:
+ c = firmware.read(2048)
+ if len(c):
+ pos += len(c)
+ sys.stdout.write("\r")
+ progressBar(100 * float(pos) / float(size))
+ s.write(c)
+ for k in range(0, len(c)):
+ cs = (cs + to_ord(c[k])) % 256
+ else:
+ firmware.close()
+ break
+ print('')
+ s.setDTR(True)
+ print('* Checksum: %d' % (cs))
+ import struct
+ s.write(struct.pack('B', cs))
+ # s.write('{0}'.format(chr(cs)).encode('ascii'))
+ print('* Firmware was sent')
+ else:
+ if line == b'Success..':
+ print('* Success, running the code')
+ print('')
+ s.write(b'AT&RST')
+ s.close()
+ exit()
+ else:
+ print('Board -> {}'.format(line))
diff --git a/boards/opencm9-04/include/board.h b/boards/opencm9-04/include/board.h
new file mode 100755
index 0000000000000000000000000000000000000000..ee419d6134f3fb495e561e7628925435b9ffae5e
--- /dev/null
+++ b/boards/opencm9-04/include/board.h
@@ -0,0 +1,77 @@
+/*
+ * Copyright (C) 2017 INRIA
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser General
+ * Public License v2.1. See the file LICENSE in the top level directory for more
+ * details.
+ */
+
+/**
+ * @defgroup boards_opencm9-04 OpenCM9.04
+ * @ingroup boards
+ * @brief Board specific files for the OpenCM9.04 board
+ * @{
+ *
+ * @file
+ * @brief Board specific definitions for the OpenCM9.04 board
+ *
+ * @author Loïc Dauphin <loic.dauphin@inria.fr>
+ */
+
+#ifndef BOARD_H
+#define BOARD_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @name Define the location of the RIOT image in flash
+ * @{
+ */
+#define LOCATION_VTABLE (0x08003000)
+/** @} */
+
+/**
+ * @name xtimer configuration
+ * @{
+ */
+#define XTIMER_WIDTH (16)
+#define XTIMER_BACKOFF 5
+/** @} */
+
+/**
+ * @name Macros for controlling the on-board LED.
+ * @{
+ */
+#define LED0_PIN GPIO_PIN(PORT_B, 9)
+
+#define LED_PORT GPIOB
+#define LED0_MASK (1 << 9)
+
+#define LED0_ON (LED_PORT->BRR = LED0_MASK)
+#define LED0_OFF (LED_PORT->BSRR = LED0_MASK)
+#define LED0_TOGGLE (LED_PORT->ODR ^= LED0_MASK)
+/** @} */
+
+/**
+ * @brief User button
+ */
+#define BTN_B1_PIN GPIO_PIN(PORT_C, 15)
+
+/**
+ * @brief Use the USART2 for STDIO on this board
+ */
+#define UART_STDIO_DEV UART_DEV(0)
+
+/**
+ * @brief Initialize board specific hardware, including clock, LEDs and std-IO
+ */
+void board_init(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* BOARD_H */
+/** @} */
diff --git a/boards/opencm9-04/include/periph_conf.h b/boards/opencm9-04/include/periph_conf.h
new file mode 100644
index 0000000000000000000000000000000000000000..4a24abdf2e1b93d3c5a05fc122b85449c03fce63
--- /dev/null
+++ b/boards/opencm9-04/include/periph_conf.h
@@ -0,0 +1,149 @@
+/*
+ * Copyright (C) 2017 INRIA
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup boards_opencm9-04
+ * @{
+ *
+ * @file
+ * @brief Peripheral MCU configuration for the opencm9-04 board
+ *
+ * @author Loïc Dauphin <loic.dauphin@inria.fr>
+ */
+
+#ifndef PERIPH_CONF_H
+#define PERIPH_CONF_H
+
+#include "periph_cpu.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @name Clock system configuration
+ * @{
+ */
+#define CLOCK_HSE (8000000U) /* external oscillator */
+#define CLOCK_CORECLOCK (72000000U) /* desired core clock frequency */
+
+/* the actual PLL values are automatically generated */
+#define CLOCK_PLL_DIV (1)
+#define CLOCK_PLL_MUL CLOCK_CORECLOCK / CLOCK_HSE
+
+/* AHB, APB1, APB2 dividers */
+#define CLOCK_AHB_DIV RCC_CFGR_HPRE_DIV1
+#define CLOCK_APB2_DIV RCC_CFGR_PPRE2_DIV1
+#define CLOCK_APB1_DIV RCC_CFGR_PPRE1_DIV2
+
+/* Bus clocks */
+#define CLOCK_APB1 (CLOCK_CORECLOCK / 2)
+#define CLOCK_APB2 (CLOCK_CORECLOCK)
+
+/* Flash latency */
+#define CLOCK_FLASH_LATENCY FLASH_ACR_LATENCY_2 /* for >= 72 MHz */
+/** @} */
+
+/**
+ * @name ADC configuration
+ * @{
+ */
+#define ADC_NUMOF (0)
+/** @} */
+
+/**
+ * @brief DAC configuration
+ * @{
+ */
+#define DAC_NUMOF (0)
+/** @} */
+
+/**
+ * @brief Timer configuration
+ * @{
+ */
+static const timer_conf_t timer_config[] = {
+ {
+ .dev = TIM2,
+ .max = 0x0000ffff,
+ .rcc_mask = RCC_APB1ENR_TIM2EN,
+ .bus = APB1,
+ .irqn = TIM2_IRQn
+ },
+ {
+ .dev = TIM3,
+ .max = 0x0000ffff,
+ .rcc_mask = RCC_APB1ENR_TIM3EN,
+ .bus = APB1,
+ .irqn = TIM3_IRQn
+ }
+};
+
+#define TIMER_0_ISR isr_tim2
+#define TIMER_1_ISR isr_tim3
+
+#define TIMER_NUMOF (sizeof(timer_config) / sizeof(timer_config[0]))
+/** @} */
+
+/**
+ * @brief UART configuration
+ * @{
+ */
+static const uart_conf_t uart_config[] = {
+ {
+ .dev = USART2,
+ .rcc_mask = RCC_APB1ENR_USART2EN,
+ .rx_pin = GPIO_PIN(PORT_A, 3),
+ .tx_pin = GPIO_PIN(PORT_A, 2),
+ .bus = APB1,
+ .irqn = USART2_IRQn
+ },
+ {
+ .dev = USART1,
+ .rcc_mask = RCC_APB2ENR_USART1EN,
+ .rx_pin = GPIO_PIN(PORT_A, 10),
+ .tx_pin = GPIO_PIN(PORT_A, 9),
+ .bus = APB2,
+ .irqn = USART1_IRQn
+ },
+ {
+ .dev = USART3,
+ .rcc_mask = RCC_APB1ENR_USART3EN,
+ .rx_pin = GPIO_PIN(PORT_B, 11),
+ .tx_pin = GPIO_PIN(PORT_B, 10),
+ .bus = APB1,
+ .irqn = USART3_IRQn
+ }
+};
+
+#define UART_0_ISR isr_usart2
+#define UART_1_ISR isr_usart1
+#define UART_2_ISR isr_usart3
+
+#define UART_NUMOF (sizeof(uart_config) / sizeof(uart_config[0]))
+/** @} */
+
+/**
+ * @name I2C configuration
+ * @{
+ */
+#define I2C_NUMOF (0)
+/** @} */
+
+/**
+ * @name SPI configuration
+ * @{
+ */
+#define SPI_NUMOF (0)
+/** @} */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PERIPH_CONF_H */