@georgerosar the short answer is yes
but all platforms are different, so the how to do this varies.
with axoloti, the best way to integrate C/C++ code is by creating an object, that represents the 'functionality' you wish to create - in this object you have access to the hardware api exposed by the firmware.
this approach means you can write in C/C++ your functionality, but still use within the patching framework to gain functionality you don't want to write yourself.
you can also of course, look at the 'factory' objects (which are in C) and see how they interact with the hardware....
of course, you could ignore all this, and just write one object that does it all … or even just create the entire patch from scratch - writing your own xpatch.cpp
you could of course, just ignore the whole axoloti software and use it as a hardware board, and modify its firmware (its all open source), but that is a lot of work
at the end of the day, I think axoloti is great because not only can you patch together with objects, but these objects are just 'bundles of C code', so its easy to tie in new C code too...
what do you specifically have in mind?
what are you trying to achieve?
using libraries: honestly that's a can of worms, what do they do? do you have the source? are they compiled for arm/optimised for the specific ARM chip? do they address the right hardware?
(reality is you might be able to use some generic libs with a bit of adaptation, but hardware specific libraries are of course not going to work)
fyi, this is often how I treat axoloti, and also things like Pure Data,
I write my code in C++, and then I use the patcher as a 'glue' , a way to link things together, and do deal with things I don't want to have to write. (perhaps midi or voice handling)
the next version of the axoloti also has a big step forward (imo, but Im biased as I wrote it ) in this area. it introduces 'modules' these allow you to build C libraries, that can be used/shared across objects.