diff --git a/hal/include/HAL/Accelerometer.h b/hal/include/HAL/Accelerometer.h
index f7b683fe29..76bb0caf8c 100644
--- a/hal/include/HAL/Accelerometer.h
+++ b/hal/include/HAL/Accelerometer.h
@@ -15,10 +15,14 @@ enum HAL_AccelerometerRange {
   HAL_AccelerometerRange_k8G = 2,
 };
 
+#ifdef __cplusplus
 extern "C" {
-void HAL_SetAccelerometerActive(HAL_Bool);
-void HAL_SetAccelerometerRange(HAL_AccelerometerRange);
-double HAL_GetAccelerometerX();
-double HAL_GetAccelerometerY();
-double HAL_GetAccelerometerZ();
+#endif
+void HAL_SetAccelerometerActive(HAL_Bool active);
+void HAL_SetAccelerometerRange(HAL_AccelerometerRange range);
+double HAL_GetAccelerometerX(void);
+double HAL_GetAccelerometerY(void);
+double HAL_GetAccelerometerZ(void);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/AnalogAccumulator.h b/hal/include/HAL/AnalogAccumulator.h
index 86dd0e0ccb..8a180dd1d0 100644
--- a/hal/include/HAL/AnalogAccumulator.h
+++ b/hal/include/HAL/AnalogAccumulator.h
@@ -11,7 +11,9 @@
 
 #include "HAL/Types.h"
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analog_port_handle,
                                   int32_t* status);
 void HAL_InitAccumulator(HAL_AnalogInputHandle analog_port_handle,
@@ -28,4 +30,6 @@ int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analog_port_handle,
                                 int32_t* status);
 void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analog_port_handle,
                               int64_t* value, int64_t* count, int32_t* status);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/AnalogGyro.h b/hal/include/HAL/AnalogGyro.h
index 1b82f5ee54..c620d2064e 100644
--- a/hal/include/HAL/AnalogGyro.h
+++ b/hal/include/HAL/AnalogGyro.h
@@ -11,7 +11,9 @@
 
 #include "HAL/Types.h"
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle handle,
                                         int32_t* status);
 void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status);
@@ -30,4 +32,6 @@ double HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status);
 double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status);
 double HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status);
 int32_t HAL_GetAnalogGyroCenter(HAL_GyroHandle handle, int32_t* status);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/AnalogInput.h b/hal/include/HAL/AnalogInput.h
index fd56252a35..60648a9f86 100644
--- a/hal/include/HAL/AnalogInput.h
+++ b/hal/include/HAL/AnalogInput.h
@@ -11,7 +11,9 @@
 
 #include "HAL/Types.h"
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle port_handle,
                                                     int32_t* status);
 void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analog_port_handle);
@@ -42,4 +44,6 @@ int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analog_port_handle,
                                int32_t* status);
 int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analog_port_handle,
                             int32_t* status);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/AnalogOutput.h b/hal/include/HAL/AnalogOutput.h
index 9d25d4fcf3..7c0df1b4a5 100644
--- a/hal/include/HAL/AnalogOutput.h
+++ b/hal/include/HAL/AnalogOutput.h
@@ -11,7 +11,9 @@
 
 #include "HAL/Types.h"
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(
     HAL_PortHandle port_handle, int32_t* status);
 void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analog_output_handle);
@@ -20,4 +22,6 @@ void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analog_output_handle,
 double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analog_output_handle,
                            int32_t* status);
 HAL_Bool HAL_CheckAnalogOutputChannel(int32_t pin);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/AnalogTrigger.h b/hal/include/HAL/AnalogTrigger.h
index 67bd736baa..99905148bc 100644
--- a/hal/include/HAL/AnalogTrigger.h
+++ b/hal/include/HAL/AnalogTrigger.h
@@ -18,7 +18,9 @@ enum HAL_AnalogTriggerType {
   HAL_Trigger_kFallingPulse = 3
 };
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
     HAL_AnalogInputHandle port_handle, int32_t* index, int32_t* status);
 void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analog_trigger_handle,
@@ -40,4 +42,6 @@ HAL_Bool HAL_GetAnalogTriggerTriggerState(
 HAL_Bool HAL_GetAnalogTriggerOutput(
     HAL_AnalogTriggerHandle analog_trigger_handle, HAL_AnalogTriggerType type,
     int32_t* status);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/Compressor.h b/hal/include/HAL/Compressor.h
index feb596ce3f..1ecc9c7be5 100644
--- a/hal/include/HAL/Compressor.h
+++ b/hal/include/HAL/Compressor.h
@@ -11,7 +11,9 @@
 
 #include "HAL/Types.h"
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 HAL_CompressorHandle HAL_InitializeCompressor(int32_t module, int32_t* status);
 HAL_Bool HAL_CheckCompressorModule(int32_t module);
 
@@ -40,4 +42,6 @@ HAL_Bool HAL_GetCompressorNotConnectedStickyFault(
     HAL_CompressorHandle compressor_handle, int32_t* status);
 HAL_Bool HAL_GetCompressorNotConnectedFault(
     HAL_CompressorHandle compressor_handle, int32_t* status);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/Constants.h b/hal/include/HAL/Constants.h
index ffa8563efe..d6ae7dfaff 100644
--- a/hal/include/HAL/Constants.h
+++ b/hal/include/HAL/Constants.h
@@ -9,6 +9,10 @@
 
 #include <stdint.h>
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 int32_t HAL_GetSystemClockTicksPerMicrosecond(void);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/Counter.h b/hal/include/HAL/Counter.h
index 55d5466582..237b42d594 100644
--- a/hal/include/HAL/Counter.h
+++ b/hal/include/HAL/Counter.h
@@ -19,7 +19,9 @@ enum HAL_Counter_Mode {
   HAL_Counter_kExternalDirection = 3
 };
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index,
                                         int32_t* status);
 void HAL_FreeCounter(HAL_CounterHandle counter_handle, int32_t* status);
@@ -68,4 +70,6 @@ HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counter_handle,
                                  int32_t* status);
 void HAL_SetCounterReverseDirection(HAL_CounterHandle counter_handle,
                                     HAL_Bool reverseDirection, int32_t* status);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/DIO.h b/hal/include/HAL/DIO.h
index 90feb24af7..99de9a8ff6 100644
--- a/hal/include/HAL/DIO.h
+++ b/hal/include/HAL/DIO.h
@@ -11,7 +11,9 @@
 
 #include "HAL/Types.h"
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle port_handle,
                                         int32_t input, int32_t* status);
 void HAL_FreeDIOPort(HAL_DigitalHandle dio_port_handle);
@@ -38,4 +40,6 @@ void HAL_SetFilterSelect(HAL_DigitalHandle dio_port_handle,
 int32_t HAL_GetFilterSelect(HAL_DigitalHandle dio_port_handle, int32_t* status);
 void HAL_SetFilterPeriod(int32_t filter_index, int64_t value, int32_t* status);
 int64_t HAL_GetFilterPeriod(int32_t filter_index, int32_t* status);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/Encoder.h b/hal/include/HAL/Encoder.h
index 8b70665e6f..beb8588269 100644
--- a/hal/include/HAL/Encoder.h
+++ b/hal/include/HAL/Encoder.h
@@ -12,7 +12,6 @@
 #include "HAL/AnalogTrigger.h"
 #include "HAL/Types.h"
 
-extern "C" {
 enum HAL_EncoderIndexingType {
   HAL_kResetWhileHigh,
   HAL_kResetWhileLow,
@@ -25,6 +24,9 @@ enum HAL_EncoderEncodingType {
   HAL_Encoder_k4X
 };
 
+#ifdef __cplusplus
+extern "C" {
+#endif
 HAL_EncoderHandle HAL_InitializeEncoder(
     HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
     HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
@@ -73,4 +75,6 @@ double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoder_handle,
 
 HAL_EncoderEncodingType HAL_GetEncoderEncodingType(
     HAL_EncoderHandle encoder_handle, int32_t* status);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/HAL.h b/hal/include/HAL/HAL.h
index d5da4a7986..506cc9fd1d 100644
--- a/hal/include/HAL/HAL.h
+++ b/hal/include/HAL/HAL.h
@@ -103,7 +103,9 @@ struct HAL_JoystickDescriptor {
   uint8_t povCount;
 };
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 HAL_PortHandle HAL_GetPort(int32_t pin);
 HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t pin);
 const char* HAL_GetErrorMessage(int32_t code);
@@ -136,18 +138,26 @@ int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
                                int32_t leftRumble, int32_t rightRumble);
 float HAL_GetMatchTime(int32_t* status);
 
-void HAL_WaitForDSData();
+void HAL_WaitForDSData(void);
 
 HAL_Bool HAL_GetSystemActive(int32_t* status);
 HAL_Bool HAL_GetBrownedOut(int32_t* status);
 
-int32_t HAL_Initialize(int32_t mode = 0);
-void HAL_ObserveUserProgramStarting();
-void HAL_ObserveUserProgramDisabled();
-void HAL_ObserveUserProgramAutonomous();
-void HAL_ObserveUserProgramTeleop();
-void HAL_ObserveUserProgramTest();
+int32_t HAL_Initialize(int32_t mode);
+void HAL_ObserveUserProgramStarting(void);
+void HAL_ObserveUserProgramDisabled(void);
+void HAL_ObserveUserProgramAutonomous(void);
+void HAL_ObserveUserProgramTeleop(void);
+void HAL_ObserveUserProgramTest(void);
 
+// ifdef's definition is to allow for default parameters in C++.
+#ifdef __cplusplus
 int64_t HAL_Report(int32_t resource, int32_t instanceNumber,
                    int32_t context = 0, const char* feature = nullptr);
+#else
+int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
+                   const char* feature);
+#endif
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/I2C.h b/hal/include/HAL/I2C.h
index 201d2e8053..710386542a 100644
--- a/hal/include/HAL/I2C.h
+++ b/hal/include/HAL/I2C.h
@@ -9,7 +9,9 @@
 
 #include <stdint.h>
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 void HAL_InitializeI2C(int32_t port, int32_t* status);
 int32_t HAL_TransactionI2C(int32_t port, int32_t deviceAddress,
                            uint8_t* dataToSend, int32_t sendSize,
@@ -19,4 +21,6 @@ int32_t HAL_WriteI2C(int32_t port, int32_t deviceAddress, uint8_t* dataToSend,
 int32_t HAL_ReadI2C(int32_t port, int32_t deviceAddress, uint8_t* buffer,
                     int32_t count);
 void HAL_CloseI2C(int32_t port);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/Interrupts.h b/hal/include/HAL/Interrupts.h
index 993a7169d3..d0c487b13e 100644
--- a/hal/include/HAL/Interrupts.h
+++ b/hal/include/HAL/Interrupts.h
@@ -12,7 +12,9 @@
 #include "HAL/AnalogTrigger.h"
 #include "HAL/Types.h"
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 typedef void (*InterruptHandlerFunction)(uint32_t interruptAssertedMask,
                                          void* param);
 
@@ -40,4 +42,6 @@ void HAL_AttachInterruptHandler(HAL_InterruptHandle interrupt_handle,
 void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interrupt_handle,
                                   HAL_Bool risingEdge, HAL_Bool fallingEdge,
                                   int32_t* status);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/Notifier.h b/hal/include/HAL/Notifier.h
index a652f11830..df87e800ac 100644
--- a/hal/include/HAL/Notifier.h
+++ b/hal/include/HAL/Notifier.h
@@ -11,7 +11,9 @@
 
 #include "HAL/Types.h"
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 HAL_NotifierHandle HAL_InitializeNotifier(void (*process)(uint64_t, void*),
                                           void* param, int32_t* status);
 void HAL_CleanNotifier(HAL_NotifierHandle notifier_handle, int32_t* status);
@@ -19,4 +21,6 @@ void* HAL_GetNotifierParam(HAL_NotifierHandle notifier_handle, int32_t* status);
 void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifier_handle,
                              uint64_t triggerTime, int32_t* status);
 void HAL_StopNotifierAlarm(HAL_NotifierHandle notifier_handle, int32_t* status);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/PDP.h b/hal/include/HAL/PDP.h
index 43756a5a6e..23840f7493 100644
--- a/hal/include/HAL/PDP.h
+++ b/hal/include/HAL/PDP.h
@@ -11,7 +11,9 @@
 
 #include "HAL/Types.h"
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 void HAL_InitializePDP(int32_t module, int32_t* status);
 HAL_Bool HAL_CheckPDPModule(int32_t module);
 double HAL_GetPDPTemperature(int32_t module, int32_t* status);
@@ -23,4 +25,6 @@ double HAL_GetPDPTotalPower(int32_t module, int32_t* status);
 double HAL_GetPDPTotalEnergy(int32_t module, int32_t* status);
 void HAL_ResetPDPTotalEnergy(int32_t module, int32_t* status);
 void HAL_ClearPDPStickyFaults(int32_t module, int32_t* status);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/PWM.h b/hal/include/HAL/PWM.h
index e7721b9303..56fb744215 100644
--- a/hal/include/HAL/PWM.h
+++ b/hal/include/HAL/PWM.h
@@ -11,7 +11,9 @@
 
 #include "HAL/Types.h"
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle port_handle,
                                         int32_t* status);
 void HAL_FreePWMPort(HAL_DigitalHandle pwm_port_handle, int32_t* status);
@@ -47,4 +49,6 @@ void HAL_LatchPWMZero(HAL_DigitalHandle pwm_port_handle, int32_t* status);
 void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwm_port_handle,
                            int32_t squelchMask, int32_t* status);
 int32_t HAL_GetLoopTiming(int32_t* status);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/Ports.h b/hal/include/HAL/Ports.h
index e5dad03a6a..075d406e71 100644
--- a/hal/include/HAL/Ports.h
+++ b/hal/include/HAL/Ports.h
@@ -9,7 +9,9 @@
 
 #include <stdint.h>
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 int32_t HAL_GetNumAccumulators(void);
 int32_t HAL_GetNumAnalogTriggers(void);
 int32_t HAL_GetNumAnalogInputs(void);
@@ -29,4 +31,6 @@ int32_t HAL_GetNumSolenoidPins(void);
 int32_t HAL_GetNumPDPModules(void);
 int32_t HAL_GetNumPDPChannels(void);
 int32_t HAL_GetNumCanTalons(void);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/Power.h b/hal/include/HAL/Power.h
index a914283218..13319fe24f 100644
--- a/hal/include/HAL/Power.h
+++ b/hal/include/HAL/Power.h
@@ -11,7 +11,9 @@
 
 #include "HAL/Types.h"
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 double HAL_GetVinVoltage(int32_t* status);
 double HAL_GetVinCurrent(int32_t* status);
 double HAL_GetUserVoltage6V(int32_t* status);
@@ -26,4 +28,6 @@ double HAL_GetUserVoltage3V3(int32_t* status);
 double HAL_GetUserCurrent3V3(int32_t* status);
 HAL_Bool HAL_GetUserActive3V3(int32_t* status);
 int32_t HAL_GetUserCurrentFaults3V3(int32_t* status);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/Relay.h b/hal/include/HAL/Relay.h
index 9afaa9fbd1..b6e5933b51 100644
--- a/hal/include/HAL/Relay.h
+++ b/hal/include/HAL/Relay.h
@@ -11,7 +11,9 @@
 
 #include "HAL/Types.h"
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle port_handle,
                                         HAL_Bool fwd, int32_t* status);
 void HAL_FreeRelayPort(HAL_RelayHandle relay_port_handle);
@@ -21,4 +23,6 @@ HAL_Bool HAL_CheckRelayChannel(int32_t pin);
 void HAL_SetRelay(HAL_RelayHandle relay_port_handle, HAL_Bool on,
                   int32_t* status);
 HAL_Bool HAL_GetRelay(HAL_RelayHandle relay_port_handle, int32_t* status);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/SPI.h b/hal/include/HAL/SPI.h
index 8f6d97078e..1d7320d921 100644
--- a/hal/include/HAL/SPI.h
+++ b/hal/include/HAL/SPI.h
@@ -11,7 +11,9 @@
 
 #include "HAL/Types.h"
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 void HAL_InitializeSPI(int32_t port, int32_t* status);
 int32_t HAL_TransactionSPI(int32_t port, uint8_t* dataToSend,
                            uint8_t* dataReceived, int32_t size);
@@ -42,4 +44,6 @@ int64_t HAL_GetSPIAccumulatorCount(int32_t port, int32_t* status);
 double HAL_GetSPIAccumulatorAverage(int32_t port, int32_t* status);
 void HAL_GetSPIAccumulatorOutput(int32_t port, int64_t* value, int64_t* count,
                                  int32_t* status);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/SerialPort.h b/hal/include/HAL/SerialPort.h
index 9684c5bf68..833b373c63 100644
--- a/hal/include/HAL/SerialPort.h
+++ b/hal/include/HAL/SerialPort.h
@@ -9,7 +9,9 @@
 
 #include <stdint.h>
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 void HAL_InitializeSerialPort(int32_t port, int32_t* status);
 void HAL_SetSerialBaudRate(int32_t port, int32_t baud, int32_t* status);
 void HAL_SetSerialDataBits(int32_t port, int32_t bits, int32_t* status);
@@ -31,4 +33,6 @@ int32_t HAL_WriteSerial(int32_t port, const char* buffer, int32_t count,
 void HAL_FlushSerial(int32_t port, int32_t* status);
 void HAL_ClearSerial(int32_t port, int32_t* status);
 void HAL_CloseSerial(int32_t port, int32_t* status);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/Solenoid.h b/hal/include/HAL/Solenoid.h
index 0d7f10d2ec..f3b5abf4ef 100644
--- a/hal/include/HAL/Solenoid.h
+++ b/hal/include/HAL/Solenoid.h
@@ -11,7 +11,9 @@
 
 #include "HAL/Types.h"
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle port_handle,
                                               int32_t* status);
 void HAL_FreeSolenoidPort(HAL_SolenoidHandle solenoid_port_handle);
@@ -26,4 +28,6 @@ int32_t HAL_GetPCMSolenoidBlackList(int32_t module, int32_t* status);
 HAL_Bool HAL_GetPCMSolenoidVoltageStickyFault(int32_t module, int32_t* status);
 HAL_Bool HAL_GetPCMSolenoidVoltageFault(int32_t module, int32_t* status);
 void HAL_ClearAllPCMStickyFaults(int32_t module, int32_t* status);
+#ifdef __cplusplus
 }
+#endif
diff --git a/hal/include/HAL/Task.h b/hal/include/HAL/Task.h
index 5c3d2d4221..d54bc876da 100644
--- a/hal/include/HAL/Task.h
+++ b/hal/include/HAL/Task.h
@@ -24,7 +24,9 @@ typedef int STATUS;
 
 typedef pthread_t* TASK;
 
+#ifdef __cplusplus
 extern "C" {
+#endif
 // Note: These constants used to be declared extern and were defined in
 // Task.cpp. This caused issues with the JNI bindings for java, and so the
 // instantiations were moved here.
@@ -33,4 +35,6 @@ const int32_t HAL_TaskLib_ILLEGAL_PRIORITY = 22;  // 22 is EINVAL
 STATUS HAL_VerifyTaskID(TASK task);
 STATUS HAL_SetTaskPriority(TASK task, int priority);  // valid priority [1..99]
 STATUS HAL_GetTaskPriority(TASK task, int* priority);
+#ifdef __cplusplus
 }
+#endif
diff --git a/wpilibc/athena/include/RobotBase.h b/wpilibc/athena/include/RobotBase.h
index b478999696..5809aec8e7 100644
--- a/wpilibc/athena/include/RobotBase.h
+++ b/wpilibc/athena/include/RobotBase.h
@@ -17,7 +17,7 @@ class DriverStation;
 
 #define START_ROBOT_CLASS(_ClassName_)                                       \
   int main() {                                                               \
-    if (!HAL_Initialize()) {                                                 \
+    if (!HAL_Initialize(0)) {                                                \
       std::cerr << "FATAL ERROR: HAL could not be initialized" << std::endl; \
       return -1;                                                             \
     }                                                                        \
diff --git a/wpilibcIntegrationTests/src/TestEnvironment.cpp b/wpilibcIntegrationTests/src/TestEnvironment.cpp
index a843425cbc..b9c3edb5e0 100644
--- a/wpilibcIntegrationTests/src/TestEnvironment.cpp
+++ b/wpilibcIntegrationTests/src/TestEnvironment.cpp
@@ -21,7 +21,7 @@ class TestEnvironment : public testing::Environment {
     if (m_alreadySetUp) return;
     m_alreadySetUp = true;
 
-    if (!HAL_Initialize()) {
+    if (!HAL_Initialize(0)) {
       std::cerr << "FATAL ERROR: HAL could not be initialized" << std::endl;
       exit(-1);
     }