Added the extern C preprocessor command to the bioloid_math header.

include/bioloid_math.h

 #ifndef _BIOLOID_MATH_H
 #define _BIOLOID_MATH_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "stm32f4xx.h"
 
 #define PI             3.14159
@@ -59,4 +63,8 @@ uint8_t matrix3d_inverse(TMatrix3D *org, TMatrix3D *inv);
 void matrix3d_set_transform(TMatrix3D *matrix, TPoint3D *point, TVector3D *vector);
 void matrix3d_mult(TMatrix3D *dst,TMatrix3D *a,TMatrix3D *b);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

include/motion_manager.h

@@ -88,7 +88,6 @@ void manager_set_offset(uint8_t servo_id,int8_t offset);
 inline int16_t manager_get_cw_angle_limit(uint8_t servo_id);
 inline int16_t manager_get_ccw_angle_limit(uint8_t servo_id);
 // motion modules handling
-//void manager_add_module(
 // operation functions
 uint8_t manager_in_range(unsigned short int address, unsigned short int length);
 void manager_process_write_cmd(unsigned short int address,unsigned short int length,unsigned char *data);

src/bioloid_dyn_master_servos.c

 #include "bioloid_dyn_master_servos.h"
 #include "bioloid_time.h"
 #include "usart1.h"
-#include "gpio.h"
 
 #define ENABLE_RX_EN_GPIO_CLK      __GPIOA_CLK_ENABLE()
 #define RX_EN_PIN                  GPIO_PIN_8