diff --git a/2.Firmware/Core-STM32F4-fw/3rdParty/fibre/cpp/include/fibre/protocol.hpp b/2.Firmware/Core-STM32F4-fw/3rdParty/fibre/cpp/include/fibre/protocol.hpp
index 77f2d18..74f7cd6 100644
--- a/2.Firmware/Core-STM32F4-fw/3rdParty/fibre/cpp/include/fibre/protocol.hpp
+++ b/2.Firmware/Core-STM32F4-fw/3rdParty/fibre/cpp/include/fibre/protocol.hpp
@@ -5,6 +5,9 @@ see protocol.md for the protocol specification
 #ifndef __PROTOCOL_HPP
 #define __PROTOCOL_HPP
 
+#include <cstdio>
+
+
 // TODO: resolve assert
 #define assert(expr)
 
diff --git a/2.Firmware/Core-STM32F4-fw/3rdParty/fibre/cpp/protocol.cpp b/2.Firmware/Core-STM32F4-fw/3rdParty/fibre/cpp/protocol.cpp
index 23a2e0a..f315382 100644
--- a/2.Firmware/Core-STM32F4-fw/3rdParty/fibre/cpp/protocol.cpp
+++ b/2.Firmware/Core-STM32F4-fw/3rdParty/fibre/cpp/protocol.cpp
@@ -1,5 +1,6 @@
 
 /* Includes ------------------------------------------------------------------*/
+#include <cstdio>
 
 #include <memory>
 #include <stdlib.h>
diff --git a/2.Firmware/Core-STM32F4-fw/Robot/instances/dummy_robot.h b/2.Firmware/Core-STM32F4-fw/Robot/instances/dummy_robot.h
index 6bb7bda..3209fe5 100644
--- a/2.Firmware/Core-STM32F4-fw/Robot/instances/dummy_robot.h
+++ b/2.Firmware/Core-STM32F4-fw/Robot/instances/dummy_robot.h
@@ -1,6 +1,6 @@
 #ifndef REF_STM32F4_FW_DUMMY_ROBOT_H
 #define REF_STM32F4_FW_DUMMY_ROBOT_H
-
+#include <string>
 #include "algorithms/kinematic/6dof_kinematic.h"
 #include "actuators/ctrl_step/ctrl_step.hpp"
 
diff --git a/2.Firmware/Ctrl-Step-Driver-STM32F1-fw/Ctrl/Driver/tb67h450_base.h b/2.Firmware/Ctrl-Step-Driver-STM32F1-fw/Ctrl/Driver/tb67h450_base.h
index 3cfea1c..59d40f1 100644
--- a/2.Firmware/Ctrl-Step-Driver-STM32F1-fw/Ctrl/Driver/tb67h450_base.h
+++ b/2.Firmware/Ctrl-Step-Driver-STM32F1-fw/Ctrl/Driver/tb67h450_base.h
@@ -23,15 +23,15 @@ class TB67H450Base : public DriverBase
 
 
     /***** Port Specified Implements *****/
-    virtual void InitGpio();
+    virtual void InitGpio() = 0;
 
-    virtual void InitPwm();
+    virtual void InitPwm() = 0;
 
-    virtual void DacOutputVoltage(uint16_t _voltageA_3300mVIn12bits, uint16_t _voltageB_3300mVIn12bits);
+    virtual void DacOutputVoltage(uint16_t _voltageA_3300mVIn12bits, uint16_t _voltageB_3300mVIn12bits) = 0;
 
-    virtual void SetInputA(bool _statusAp, bool _statusAm);
+    virtual void SetInputA(bool _statusAp, bool _statusAm) = 0;
 
-    virtual void SetInputB(bool _statusBp, bool _statusBm);
+    virtual void SetInputB(bool _statusBp, bool _statusBm) = 0;
 };
 
 #endif
diff --git a/2.Firmware/Ctrl-Step-Driver-STM32F1-fw/Ctrl/Sensor/Encoder/mt6816_base.h b/2.Firmware/Ctrl-Step-Driver-STM32F1-fw/Ctrl/Sensor/Encoder/mt6816_base.h
index 2aae806..f2ddd71 100644
--- a/2.Firmware/Ctrl-Step-Driver-STM32F1-fw/Ctrl/Sensor/Encoder/mt6816_base.h
+++ b/2.Firmware/Ctrl-Step-Driver-STM32F1-fw/Ctrl/Sensor/Encoder/mt6816_base.h
@@ -37,9 +37,9 @@ class MT6816Base : public EncoderBase
 
 
     /***** Port Specified Implements *****/
-    virtual void SpiInit();
+    virtual void SpiInit() = 0;
 
-    virtual uint16_t SpiTransmitAndRead16Bits(uint16_t _dataTx);
+    virtual uint16_t SpiTransmitAndRead16Bits(uint16_t _dataTx) = 0;
 
 };