Added the extern C clause to all header to be able to use them in a C++ application.

include/ADXL345_accel.h

 #ifndef ADXL345_ACCEL_H
 #define ADXL345_ACCEL_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "stm32f4xx.h"
 
 // public functions
@@ -12,4 +16,8 @@ void imu_accel_set_config(void);
 uint8_t imu_accel_detect(void);
 void imu_accel_process_data(void);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

include/HMC5843_compass.h

 #ifndef _HMC5843_compass_h
 #define _HMC5843_compass_h
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "stm32f4xx.h"
 
 uint8_t imu_compass_detect(void);
@@ -11,5 +15,8 @@ void imu_compass_get_data(void);
 void imu_compass_set_config(void);
 void imu_compass_process_data(void);
 
+#ifdef __cplusplus
+}
+#endif
 
 #endif

include/ITG3200_gyro.h

 #ifndef _ITG3200_GYRO_H
 #define _ITG3200_GYRO_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "stm32f4xx.h"
 
 // public functions
@@ -12,4 +16,8 @@ void imu_gyro_get_data(void);
 void imu_gyro_set_config(void);
 void imu_gyro_process_data(void);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

include/action.h

 #ifndef _ACTION_H
 #define _ACTION_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "stm32f4xx.h"
 #include "motion_pages.h"
 
@@ -19,4 +23,8 @@ uint8_t action_is_running(void);
 // motion manager interface
 void action_process(void);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

include/adc_dma.h

 #ifndef _ADC_DMA_H
 #define _ADC_DMA_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "stm32f4xx.h"
 
 void adc_init(void);
 uint16_t adc_get_temperature(void);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

include/comm.h

 #ifndef _COMM_H
 #define _COMM_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "stm32f4xx.h"
 
 // public functions
 void comm_init(void);
 void comm_start(void);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

include/dyn_servos.h

 #ifndef _DYN_SERVOS_H
 #define _DYN_SERVOS_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 // servo models
 #define       SERVO_AX12A     0x000C
 #define       SERVO_AX12W     0x012C
@@ -88,4 +92,8 @@ typedef enum{
   P_D_ERROR_OUT_L             = 66,
   P_D_ERROR_OUT_H             = 67}TDynServo;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

include/dynamixel_master_uart_dma.h

 #ifndef _DYNAMIXEL_MASTER_DMA_H
 #define _DYNAMIXEL_MASTER_DMA_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "stm32f4xx.h"
 #include "dynamixel.h"
 #include "dynamixel2.h"
@@ -38,4 +42,8 @@ uint8_t dyn_master_bulk_read(uint8_t num,uint8_t *ids,uint8_t *address, uint8_t
 // repeater functions
 uint8_t dyn_master_resend_inst_packet(uint8_t *inst_packet, uint8_t *status_packet);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

include/dynamixel_slave_uart_dma.h

 #ifndef _DYNAMIXEL_SLAVE_UART_DMA_H
 #define _DYNAXIXEL_SLAVE_UART_DMA_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "dynamixel.h"
+#include "dynamixel2.h"
 #include "stm32f4xx.h"
 
 // public functions
@@ -12,9 +17,13 @@ inline void dyn_slave_set_return_delay(uint8_t delay);
 inline void dyn_slave_set_return_level(uint8_t level);
 inline uint8_t dyn_slave_get_return_level(void);
 uint8_t dyn_slave_is_packet_ready(void);
-void dyn_slave_get_inst_packet(uint8_t *packet);
-void dyn_slave_send_status_packet(uint8_t error,uint8_t length, uint8_t *data);
+TDynVersion  dyn_slave_get_inst_packet(uint8_t *packet);
+void dyn_slave_send_status_packet(uint8_t error,uint16_t length, uint8_t *data);
 void dyn_slave_resend_status_packet(uint8_t *packet);
 void dyn_slave_reset(void);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

include/eeprom.h

@@ -24,6 +24,10 @@
 #ifndef __EEPROM_H
 #define __EEPROM_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /* Includes ------------------------------------------------------------------*/
 #include "stm32f4xx.h"
 
@@ -86,6 +90,10 @@ uint16_t EE_Init(void);
 uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data);
 uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* __EEPROM_H */
 
 /******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/

include/gpio.h

 #ifndef _GPIO_H
 #define _GPIO_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "stm32f4xx_hal.h"
 
 typedef enum {USER1_LED,USER2_LED,RXD_LED,TXD_LED} led_t;
@@ -17,4 +21,8 @@ void gpio_blink_led(led_t led_id, int16_t period_ms);
 uint8_t gpio_is_pushbutton_pressed(pushbutton_t pb_id);
 void gpio_set_pushbutton_callback(pushbutton_t pb_id,void (*callback)(void));
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

include/imu_9dof_dma.h

 #ifndef _IMU_9DOF_DMA_H
 #define _IMU_9DOF_DMA_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "stm32f4xx.h"
 
 // general IMU public functions
@@ -8,4 +12,8 @@ void imu_init(void);
 void imu_start(void);
 void imu_stop(void);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

include/imu_int.h

 #ifndef _IMU_INT_H
 #define _IMU_INT_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define I2C_IMU_DMA                      DMA1
 #define I2C_IMU_DMA_CHANNEL              DMA_Channel_3
 #define I2C_IMU_DR_ADDRESS               ((uint32_t)I2C3+0x10)
@@ -64,4 +68,8 @@ extern DMA_InitTypeDef IMU_DMA_RX_InitStructure;
 void imu_wait_op_done(void);
 uint8_t imu_is_op_done(void);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

include/motion_manager.h

 #ifndef _MOTION_MANAGER_H
 #define _MOTION_MANAGER_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "stm32f4xx.h"
 
 #define         MANAGER_MAX_NUM_SERVOS          31
@@ -23,8 +27,14 @@ typedef struct{
   uint16_t current_value;
   TModules module;
   uint8_t enabled;
+  int16_t cw_angle_limit;
+  int16_t ccw_angle_limit;
+  uint8_t dyn_version;
 }TServoInfo;
 
+// public variables
+extern int64_t current_angles[MANAGER_MAX_NUM_SERVOS];
+
 // public functions
 void manager_init(uint16_t period_us);
 inline uint16_t manager_get_period(void);
@@ -32,6 +42,8 @@ inline void manager_set_period(uint16_t period_us);
 inline void manager_enable(void);
 inline void manager_disable(void);
 inline uint8_t manager_is_enabled(void);
+void manager_enable_balance(void);
+void manager_disable_balance(void);
 inline uint8_t manager_get_num_servos(void);
 inline void manager_set_module(uint8_t servo_id,TModules module);
 inline TModules manager_get_module(uint8_t servo_id);
@@ -39,5 +51,11 @@ inline void manager_enable_servo(uint8_t servo_id);
 inline void manager_disable_servo(uint8_t servo_id);
 void manager_disable_servos(void);
 inline uint8_t manager_is_servo_enabled(uint8_t servo_id);
+inline int16_t manager_get_cw_angle_limit(uint8_t servo_id);
+inline int16_t manager_get_ccw_angle_limit(uint8_t servo_id);
+
+#ifdef __cplusplus
+}
+#endif
 
 #endif

include/motion_pages.h

 #ifndef _MOTION_PAGES_H
 #define _MOTION_PAGES_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "stm32f4xx.h"
 
 #define MAX_PAGES                     256 
@@ -49,4 +53,8 @@ void pages_clear_page(TPage *page);
 void pages_copy_page(TPage *src,TPage *dst);
 inline uint8_t pages_get_slope(TPage *page,uint8_t servo_id);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

include/ram.h

 #ifndef _RAM_H
 #define _RAM_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "stm32f4xx.h"
 #include "eeprom.h"
 
@@ -153,4 +157,8 @@ uint8_t ram_write_word(uint8_t address, uint16_t data);
 uint8_t ram_write_table(uint8_t address, uint8_t length,uint8_t *data);
 inline uint8_t ram_in_range(uint8_t start_reg,uint8_t end_reg,uint8_t address,uint8_t length);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

include/stm32_time.h

 #ifndef _STM32_TIME_H
 #define _STM32_TIME_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "stm32f4xx.h"
 #include "system_stm32f4xx.h"
 
@@ -8,4 +12,8 @@ void time_init(void);
 void delay_ms(__IO uint32_t time);
 void delay_us(uint32_t us);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif