The Castillo de San Martín, built over Roman foundations, gives the hamlet its name. The overlook near the castle is worth a pause. Descending from here, the roundabout is confusingly marked — old and new arrows compete. The camino does NOT turn right at the first roundabout; continue to the second and take the exit toward Soto del Barco.
The Castillo de San Martín sits on the site of a Roman fortification, improved and expanded in the medieval period to guard the mouth of the Río Nalón.
Descending from the castle overlook the camino arrives at a roundabout littered with old arrows and new arrows. At this roundabout, which is now cut off by guard rails, the camino does NOT turn right. Instead it follows the road a bit longer to the next roundabout. At this roundabout it does NOT turn down the N-632 to Muros de Nalon, but rather takes the second exit to pass the hotel in Soto del Barco.