Major formatting/whitespace cleanup

27 files changed, 603 insertions, 373 deletions

diff --git a/apps/drivers/bma180/bma180.cpp b/apps/drivers/bma180/bma180.cpp
index 8b22b1326..bc4d4b3bf 100644
--- a/apps/drivers/bma180/bma180.cpp
+++ b/apps/drivers/bma180/bma180.cpp
@@ -289,6 +289,7 @@ BMA180::init()
 	_num_reports = 2;
 	_oldest_report = _next_report = 0;
 	_reports = new struct accel_report[_num_reports];
+
 	if (_reports == nullptr)
 		goto out;
 
@@ -321,13 +322,16 @@ BMA180::init()
 	modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0);
 
 	if (set_range(4)) warnx("Failed setting range");
+
 	if (set_lowpass(75)) warnx("Failed setting lowpass");
 
 	if (read_reg(ADDR_CHIP_ID) == CHIP_ID) {
 		ret = OK;
+
 	} else {
 		ret = ERROR;
 	}
+
 out:
 	return ret;
 }
@@ -441,6 +445,7 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case SENSORIOCGPOLLRATE:
 		if (_call_interval == 0)
 			return SENSOR_POLLRATE_MANUAL;
+
 		return 1000000 / _call_interval;
 
 	case SENSORIOCSQUEUEDEPTH: {
@@ -468,7 +473,7 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
 		}
 
 	case SENSORIOCGQUEUEDEPTH:
-		return _num_reports -1;
+		return _num_reports - 1;
 
 	case SENSORIOCRESET:
 		/* XXX implement */
@@ -488,12 +493,12 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case ACCELIOCSSCALE:
 		/* copy scale in */
-		memcpy(&_accel_scale, (struct accel_scale*) arg, sizeof(_accel_scale));
+		memcpy(&_accel_scale, (struct accel_scale *) arg, sizeof(_accel_scale));
 		return OK;
 
 	case ACCELIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct accel_scale*) arg, &_accel_scale, sizeof(_accel_scale));
+		memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale));
 		return OK;
 
 	case ACCELIOCSRANGE:
@@ -549,24 +554,30 @@ BMA180::set_range(unsigned max_g)
 
 	if (max_g == 0)
 		max_g = 16;
+
 	if (max_g > 16)
 		return -ERANGE;
 
 	if (max_g <= 2) {
 		_current_range = 2;
 		rangebits = OFFSET_LSB1_RANGE_2G;
+
 	} else if (max_g <= 3) {
 		_current_range = 3;
 		rangebits = OFFSET_LSB1_RANGE_3G;
+
 	} else if (max_g <= 4) {
 		_current_range = 4;
 		rangebits = OFFSET_LSB1_RANGE_4G;
+
 	} else if (max_g <= 8) {
 		_current_range = 8;
 		rangebits = OFFSET_LSB1_RANGE_8G;
+
 	} else if (max_g <= 16) {
 		_current_range = 16;
 		rangebits = OFFSET_LSB1_RANGE_16G;
+
 	} else {
 		return -EINVAL;
 	}
@@ -586,7 +597,7 @@ BMA180::set_range(unsigned max_g)
 
 	/* check if wanted value is now in register */
 	return !((read_reg(ADDR_OFFSET_LSB1) & OFFSET_LSB1_RANGE_MASK) ==
-		(OFFSET_LSB1_RANGE_MASK & rangebits));
+		 (OFFSET_LSB1_RANGE_MASK & rangebits));
 }
 
 int
@@ -633,7 +644,7 @@ BMA180::set_lowpass(unsigned frequency)
 
 	/* check if wanted value is now in register */
 	return !((read_reg(ADDR_BW_TCS) & BW_TCS_BW_MASK) ==
-		(BW_TCS_BW_MASK & bwbits));
+		 (BW_TCS_BW_MASK & bwbits));
 }
 
 void
@@ -703,9 +714,9 @@ BMA180::measure()
 	 * perform only the axis assignment here.
 	 * Two non-value bits are discarded directly
 	 */
-	report->y_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB+1)) << 8) | (read_reg(ADDR_ACC_X_LSB));// XXX PX4DEV raw_report.x;
-	report->x_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB+3)) << 8) | (read_reg(ADDR_ACC_X_LSB+2));// XXX PX4DEV raw_report.y;
-	report->z_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB+5)) << 8) | (read_reg(ADDR_ACC_X_LSB+4));// XXX PX4DEV raw_report.z;
+	report->y_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB + 1)) << 8) | (read_reg(ADDR_ACC_X_LSB)); // XXX PX4DEV raw_report.x;
+	report->x_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB + 3)) << 8) | (read_reg(ADDR_ACC_X_LSB + 2)); // XXX PX4DEV raw_report.y;
+	report->z_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB + 5)) << 8) | (read_reg(ADDR_ACC_X_LSB + 4)); // XXX PX4DEV raw_report.z;
 
 	/* discard two non-value bits in the 16 bit measurement */
 	report->x_raw = (report->x_raw >> 2);
@@ -781,17 +792,21 @@ start()
 
 	/* set the poll rate to default, starts automatic data collection */
 	fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0)
 		goto fail;
+
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
 		goto fail;
 
 	exit(0);
 fail:
+
 	if (g_dev != nullptr) {
 		delete g_dev;
 		g_dev = nullptr;
 	}
+
 	errx(1, "driver start failed");
 }
 
@@ -809,16 +824,18 @@ test()
 
 	/* get the driver */
 	fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0)
-		err(1, "%s open failed (try 'bma180 start' if the driver is not running)", 
-			ACCEL_DEVICE_PATH);
+		err(1, "%s open failed (try 'bma180 start' if the driver is not running)",
+		    ACCEL_DEVICE_PATH);
 
 	/* reset to manual polling */
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
 		err(1, "reset to manual polling");
-	
+
 	/* do a simple demand read */
 	sz = read(fd, &a_report, sizeof(a_report));
+
 	if (sz != sizeof(a_report))
 		err(1, "immediate acc read failed");
 
@@ -831,7 +848,7 @@ test()
 	warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
 	warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
 	warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
-		(double)(a_report.range_m_s2 / 9.81f));
+	      (double)(a_report.range_m_s2 / 9.81f));
 
 	/* XXX add poll-rate tests here too */
 
@@ -846,10 +863,13 @@ void
 reset()
 {
 	int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0)
 		err(1, "failed ");
+
 	if (ioctl(fd, SENSORIOCRESET, 0) < 0)
 		err(1, "driver reset failed");
+
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
 		err(1, "driver poll restart failed");
 
diff --git a/apps/drivers/boards/px4fmu/px4fmu_adc.c b/apps/drivers/boards/px4fmu/px4fmu_adc.c
index 2ea855955..987894163 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_adc.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_adc.c
@@ -99,25 +99,22 @@ int adc_devinit(void)
 
 	/* Check if we have already initialized */
 
-	if (!initialized)
-	{
+	if (!initialized) {
 		char name[11];
 
-		for (i = 0; i < ADC3_NCHANNELS; i++)
-		{
-		stm32_configgpio(g_pinlist[i]);
+		for (i = 0; i < ADC3_NCHANNELS; i++) {
+			stm32_configgpio(g_pinlist[i]);
 		}
 
-		for (i = 0; i < 1; i++)
-		{
+		for (i = 0; i < 1; i++) {
 			/* Configure the pins as analog inputs for the selected channels */
 			//stm32_configgpio(g_pinlist[i]);
 
 			/* Call stm32_adcinitialize() to get an instance of the ADC interface */
 			//multiple channels only supported with dma!
 			adc[i] = stm32_adcinitialize(3, (g_chanlist), 4);
-			if (adc == NULL)
-			{
+
+			if (adc == NULL) {
 				adbg("ERROR: Failed to get ADC interface\n");
 				return -ENODEV;
 			}
@@ -126,8 +123,8 @@ int adc_devinit(void)
 			/* Register the ADC driver at "/dev/adc0" */
 			sprintf(name, "/dev/adc%d", i);
 			ret = adc_register(name, adc[i]);
-			if (ret < 0)
-			{
+
+			if (ret < 0) {
 				adbg("adc_register failed for adc %s: %d\n", name, ret);
 				return ret;
 			}
diff --git a/apps/drivers/boards/px4fmu/px4fmu_can.c b/apps/drivers/boards/px4fmu/px4fmu_can.c
index 92d96e558..0d0b5fcd3 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_can.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_can.c
@@ -107,36 +107,35 @@
 
 int can_devinit(void)
 {
-  static bool initialized = false;
-  struct can_dev_s *can;
-  int ret;
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
 
-  /* Check if we have already initialized */
+	/* Check if we have already initialized */
 
-  if (!initialized)
-    {
-      /* Call stm32_caninitialize() to get an instance of the CAN interface */
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
 
-      can = stm32_caninitialize(CAN_PORT);
-      if (can == NULL)
-        {
-          candbg("ERROR:  Failed to get CAN interface\n");
-          return -ENODEV;
-        }
+		can = stm32_caninitialize(CAN_PORT);
 
-      /* Register the CAN driver at "/dev/can0" */
+		if (can == NULL) {
+			candbg("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
 
-      ret = can_register("/dev/can0", can);
-      if (ret < 0)
-        {
-          candbg("ERROR: can_register failed: %d\n", ret);
-          return ret;
-        }
+		/* Register the CAN driver at "/dev/can0" */
 
-      /* Now we are initialized */
+		ret = can_register("/dev/can0", can);
 
-      initialized = true;
-    }
+		if (ret < 0) {
+			candbg("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
 
-  return OK;
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
 }
diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/apps/drivers/boards/px4fmu/px4fmu_init.c
index ba6cdd764..e5ded7328 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_init.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_init.c
@@ -34,7 +34,7 @@
 /**
  * @file px4fmu_init.c
  *
- * PX4FMU-specific early startup code.  This file implements the 
+ * PX4FMU-specific early startup code.  This file implements the
  * nsh_archinitialize() function that is called early by nsh during startup.
  *
  * Code here is run before the rcS script is invoked; it should start required
@@ -115,11 +115,11 @@ extern int adc_devinit(void);
 
 __EXPORT void stm32_boardinitialize(void)
 {
-  /* configure SPI interfaces */
-  stm32_spiinitialize();
+	/* configure SPI interfaces */
+	stm32_spiinitialize();
 
-  /* configure LEDs */
-  up_ledinit();
+	/* configure LEDs */
+	up_ledinit();
 }
 
 /****************************************************************************
@@ -139,171 +139,179 @@ static struct i2c_dev_s *i2c3;
 #include <math.h>
 
 #ifdef __cplusplus
-__EXPORT int matherr(struct __exception *e) {
-  return 1;
+__EXPORT int matherr(struct __exception *e)
+{
+	return 1;
 }
 #else
-__EXPORT int matherr(struct exception *e) {
-  return 1;
+__EXPORT int matherr(struct exception *e)
+{
+	return 1;
 }
 #endif
 
 __EXPORT int nsh_archinitialize(void)
 {
-  int result;
+	int result;
 
-  /* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
+	/* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
 
-  /* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
+	/* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
 
-  /* configure the high-resolution time/callout interface */
+	/* configure the high-resolution time/callout interface */
 #ifdef CONFIG_HRT_TIMER
-  hrt_init();
+	hrt_init();
 #endif
 
-  /* configure CPU load estimation */
-  #ifdef CONFIG_SCHED_INSTRUMENTATION
-  cpuload_initialize_once();
-  #endif
+	/* configure CPU load estimation */
+#ifdef CONFIG_SCHED_INSTRUMENTATION
+	cpuload_initialize_once();
+#endif
 
-  /* set up the serial DMA polling */
+	/* set up the serial DMA polling */
 #ifdef SERIAL_HAVE_DMA
-  {
-    static struct hrt_call serial_dma_call;
-    struct timespec ts;
-
-    /* 
-     * Poll at 1ms intervals for received bytes that have not triggered
-     * a DMA event.
-     */
-    ts.tv_sec = 0;
-    ts.tv_nsec = 1000000;
-
-    hrt_call_every(&serial_dma_call, 
-                   ts_to_abstime(&ts),
-                   ts_to_abstime(&ts),
-                   (hrt_callout)stm32_serial_dma_poll,
-                   NULL);
-  }
+	{
+		static struct hrt_call serial_dma_call;
+		struct timespec ts;
+
+		/*
+		 * Poll at 1ms intervals for received bytes that have not triggered
+		 * a DMA event.
+		 */
+		ts.tv_sec = 0;
+		ts.tv_nsec = 1000000;
+
+		hrt_call_every(&serial_dma_call,
+			       ts_to_abstime(&ts),
+			       ts_to_abstime(&ts),
+			       (hrt_callout)stm32_serial_dma_poll,
+			       NULL);
+	}
 #endif
 
-  message("\r\n");
+	message("\r\n");
+
+	up_ledoff(LED_BLUE);
+	up_ledoff(LED_AMBER);
 
-  up_ledoff(LED_BLUE);
-  up_ledoff(LED_AMBER);
+	up_ledon(LED_BLUE);
 
-  up_ledon(LED_BLUE);
+	/* Configure user-space led driver */
+	px4fmu_led_init();
 
-  /* Configure user-space led driver */
-  px4fmu_led_init();
+	/* Configure SPI-based devices */
 
-  /* Configure SPI-based devices */
+	spi1 = up_spiinitialize(1);
 
-  spi1 = up_spiinitialize(1);
-  if (!spi1)
-  {
-	  message("[boot] FAILED to initialize SPI port 1\r\n");
-	  up_ledon(LED_AMBER);
-	  return -ENODEV;
-  }
+	if (!spi1) {
+		message("[boot] FAILED to initialize SPI port 1\r\n");
+		up_ledon(LED_AMBER);
+		return -ENODEV;
+	}
 
-  // Default SPI1 to 1MHz and de-assert the known chip selects.
-  SPI_SETFREQUENCY(spi1, 10000000);
-  SPI_SETBITS(spi1, 8);
-  SPI_SETMODE(spi1, SPIDEV_MODE3);
-  SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
-  SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
-  SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
-  up_udelay(20);
+	// Default SPI1 to 1MHz and de-assert the known chip selects.
+	SPI_SETFREQUENCY(spi1, 10000000);
+	SPI_SETBITS(spi1, 8);
+	SPI_SETMODE(spi1, SPIDEV_MODE3);
+	SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
+	SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
+	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
+	up_udelay(20);
 
-  message("[boot] Successfully initialized SPI port 1\r\n");
+	message("[boot] Successfully initialized SPI port 1\r\n");
 
-  /* initialize I2C2 bus */
+	/* initialize I2C2 bus */
 
-  i2c2 = up_i2cinitialize(2);
-  if (!i2c2) {
-	  message("[boot] FAILED to initialize I2C bus 2\n");
-	  up_ledon(LED_AMBER);
-	  return -ENODEV;
-  }
+	i2c2 = up_i2cinitialize(2);
 
-  /* set I2C2 speed */
-  I2C_SETFREQUENCY(i2c2, 400000);
+	if (!i2c2) {
+		message("[boot] FAILED to initialize I2C bus 2\n");
+		up_ledon(LED_AMBER);
+		return -ENODEV;
+	}
 
+	/* set I2C2 speed */
+	I2C_SETFREQUENCY(i2c2, 400000);
 
-  i2c3 = up_i2cinitialize(3);
-  if (!i2c3) {
-	  message("[boot] FAILED to initialize I2C bus 3\n");
-	  up_ledon(LED_AMBER);
-	  return -ENODEV;
-  }
 
-  /* set I2C3 speed */
-  I2C_SETFREQUENCY(i2c3, 400000);
+	i2c3 = up_i2cinitialize(3);
 
-  /* try to attach, don't fail if device is not responding */
-  (void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
-		  FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
-		  FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
-		  FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
+	if (!i2c3) {
+		message("[boot] FAILED to initialize I2C bus 3\n");
+		up_ledon(LED_AMBER);
+		return -ENODEV;
+	}
+
+	/* set I2C3 speed */
+	I2C_SETFREQUENCY(i2c3, 400000);
+
+	/* try to attach, don't fail if device is not responding */
+	(void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
+			    FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
+			    FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
+			    FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
 
 #if defined(CONFIG_STM32_SPI3)
-  /* Get the SPI port */
-
-  message("[boot] Initializing SPI port 3\n");
-  spi3 = up_spiinitialize(3);
-  if (!spi3)
-    {
-      message("[boot] FAILED to initialize SPI port 3\n");
-      up_ledon(LED_AMBER);
-      return -ENODEV;
-    }
-  message("[boot] Successfully initialized SPI port 3\n");
-
-  /* Now bind the SPI interface to the MMCSD driver */
-  result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
-  if (result != OK)
-  {
-	  message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
-	  up_ledon(LED_AMBER);
-	  return -ENODEV;
-  }
-  message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
+	/* Get the SPI port */
+
+	message("[boot] Initializing SPI port 3\n");
+	spi3 = up_spiinitialize(3);
+
+	if (!spi3) {
+		message("[boot] FAILED to initialize SPI port 3\n");
+		up_ledon(LED_AMBER);
+		return -ENODEV;
+	}
+
+	message("[boot] Successfully initialized SPI port 3\n");
+
+	/* Now bind the SPI interface to the MMCSD driver */
+	result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
+
+	if (result != OK) {
+		message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
+		up_ledon(LED_AMBER);
+		return -ENODEV;
+	}
+
+	message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
 #endif /* SPI3 */
 
-  /* initialize I2C1 bus */
+	/* initialize I2C1 bus */
 
-  i2c1 = up_i2cinitialize(1);
-  if (!i2c1) {
-    message("[boot] FAILED to initialize I2C bus 1\n");
-    up_ledon(LED_AMBER);
-    return -ENODEV;
-  }
+	i2c1 = up_i2cinitialize(1);
 
-  /* set I2C1 speed */
-  I2C_SETFREQUENCY(i2c1, 400000);
+	if (!i2c1) {
+		message("[boot] FAILED to initialize I2C bus 1\n");
+		up_ledon(LED_AMBER);
+		return -ENODEV;
+	}
 
-  /* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
+	/* set I2C1 speed */
+	I2C_SETFREQUENCY(i2c1, 400000);
 
-  /* Get board information if available */
+	/* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
 
-  /* Initialize the user GPIOs */
-  px4fmu_gpio_init();
+	/* Get board information if available */
+
+	/* Initialize the user GPIOs */
+	px4fmu_gpio_init();
 
 #ifdef CONFIG_ADC
-  int adc_state = adc_devinit();
-  if (adc_state != OK)
-  {
-    /* Try again */
-    adc_state = adc_devinit();
-    if (adc_state != OK)
-    {
-      /* Give up */
-      message("[boot] FAILED adc_devinit: %d\n", adc_state);
-      return -ENODEV;
-    }
-  }
+	int adc_state = adc_devinit();
+
+	if (adc_state != OK) {
+		/* Try again */
+		adc_state = adc_devinit();
+
+		if (adc_state != OK) {
+			/* Give up */
+			message("[boot] FAILED adc_devinit: %d\n", adc_state);
+			return -ENODEV;
+		}
+	}
+
 #endif
 
-  return OK;
+	return OK;
 }
diff --git a/apps/drivers/boards/px4fmu/px4fmu_spi.c b/apps/drivers/boards/px4fmu/px4fmu_spi.c
index fbb6191d6..70245a3ec 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_spi.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_spi.c
@@ -95,21 +95,24 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_MPU, selected);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected);
 		break;
+
 	case PX4_SPIDEV_ACCEL:
 		/* Making sure the other peripherals are not selected */
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
 		stm32_gpiowrite(GPIO_SPI_CS_MPU, selected);
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected);
 		break;
+
 	case PX4_SPIDEV_MPU:
 		/* Making sure the other peripherals are not selected */
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected);
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected);
 		stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
 		break;
+
 	default:
 		break;
-		
+
 	}
 }
 
diff --git a/apps/drivers/boards/px4fmu/px4fmu_usb.c b/apps/drivers/boards/px4fmu/px4fmu_usb.c
index d635e719b..b0b669fbe 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_usb.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_usb.c
@@ -77,16 +77,16 @@
 
 __EXPORT void stm32_usbinitialize(void)
 {
-  /* The OTG FS has an internal soft pull-up */
+	/* The OTG FS has an internal soft pull-up */
 
-  /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
 
 #ifdef CONFIG_STM32_OTGFS
-  stm32_configgpio(GPIO_OTGFS_VBUS);
-  /* XXX We only support device mode
-  stm32_configgpio(GPIO_OTGFS_PWRON);
-  stm32_configgpio(GPIO_OTGFS_OVER);
-  */
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+	/* XXX We only support device mode
+	stm32_configgpio(GPIO_OTGFS_PWRON);
+	stm32_configgpio(GPIO_OTGFS_OVER);
+	*/
 #endif
 }
 
@@ -103,6 +103,6 @@ __EXPORT void stm32_usbinitialize(void)
 
 __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
 {
-  ulldbg("resume: %d\n", resume);
+	ulldbg("resume: %d\n", resume);
 }
 
diff --git a/apps/drivers/device/device.h b/apps/drivers/device/device.h
index 9af678465..01692c315 100644
--- a/apps/drivers/device/device.h
+++ b/apps/drivers/device/device.h
@@ -54,7 +54,7 @@
 /**
  * Namespace encapsulating all device framework classes, functions and data.
  */
-namespace device __EXPORT 
+namespace device __EXPORT
 {
 
 /**
@@ -276,14 +276,14 @@ public:
 	 */
 	virtual int	poll(struct file *filp, struct pollfd *fds, bool setup);
 
-       /**
-        * Test whether the device is currently open.
-        *
-        * This can be used to avoid tearing down a device that is still active.
-        *
-        * @return              True if the device is currently open.
-        */
-       bool            is_open() { return _open_count > 0; }
+	/**
+	 * Test whether the device is currently open.
+	 *
+	 * This can be used to avoid tearing down a device that is still active.
+	 *
+	 * @return              True if the device is currently open.
+	 */
+	bool            is_open() { return _open_count > 0; }
 
 protected:
 	/**
diff --git a/apps/drivers/device/i2c.cpp b/apps/drivers/device/i2c.cpp
index c4b2aa944..4b832b548 100644
--- a/apps/drivers/device/i2c.cpp
+++ b/apps/drivers/device/i2c.cpp
@@ -121,7 +121,7 @@ I2C::transfer(uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len
 	unsigned tries = 0;
 
 	do {
-	//	debug("transfer out %p/%u  in %p/%u", send, send_len, recv, recv_len);
+		//	debug("transfer out %p/%u  in %p/%u", send, send_len, recv, recv_len);
 
 		msgs = 0;
 
@@ -144,7 +144,7 @@ I2C::transfer(uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len
 		if (msgs == 0)
 			return -EINVAL;
 
-		/* 
+		/*
 		 * I2C architecture means there is an unavoidable race here
 		 * if there are any devices on the bus with a different frequency
 		 * preference.  Really, this is pointless.
@@ -154,7 +154,7 @@ I2C::transfer(uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len
 
 		if (ret == OK)
 			break;
-		
+
 		// reset the I2C bus to unwedge on error
 		up_i2creset(_dev);
 
diff --git a/apps/drivers/device/i2c.h b/apps/drivers/device/i2c.h
index 7c5a14d6b..eb1b6cb05 100644
--- a/apps/drivers/device/i2c.h
+++ b/apps/drivers/device/i2c.h
@@ -42,7 +42,7 @@
 
 #include <nuttx/i2c.h>
 
-namespace device __EXPORT 
+namespace device __EXPORT
 {
 
 /**
diff --git a/apps/drivers/device/spi.cpp b/apps/drivers/device/spi.cpp
index a1761b769..528333e04 100644
--- a/apps/drivers/device/spi.cpp
+++ b/apps/drivers/device/spi.cpp
@@ -134,6 +134,7 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 	/* do common setup */
 	if (!up_interrupt_context())
 		SPI_LOCK(_dev, true);
+
 	SPI_SETFREQUENCY(_dev, _frequency);
 	SPI_SETMODE(_dev, _mode);
 	SPI_SETBITS(_dev, 8);
@@ -144,6 +145,7 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 
 	/* and clean up */
 	SPI_SELECT(_dev, _device, false);
+
 	if (!up_interrupt_context())
 		SPI_LOCK(_dev, false);
 
diff --git a/apps/drivers/device/spi.h b/apps/drivers/device/spi.h
index b2a111562..e8c8e2c5e 100644
--- a/apps/drivers/device/spi.h
+++ b/apps/drivers/device/spi.h
@@ -84,7 +84,7 @@ protected:
 	 * If called from interrupt context, this interface does not lock
 	 * the bus and may interfere with non-interrupt-context callers.
 	 *
-	 * Clients in a mixed interrupt/non-interrupt configuration must 
+	 * Clients in a mixed interrupt/non-interrupt configuration must
 	 * ensure appropriate interlocking.
 	 *
 	 * At least one of send or recv must be non-null.
diff --git a/apps/drivers/drv_accel.h b/apps/drivers/drv_accel.h
index 6d0c8c545..3834795e0 100644
--- a/apps/drivers/drv_accel.h
+++ b/apps/drivers/drv_accel.h
@@ -83,7 +83,7 @@ ORB_DECLARE(sensor_accel);
 /*
  * ioctl() definitions
  *
- * Accelerometer drivers also implement the generic sensor driver 
+ * Accelerometer drivers also implement the generic sensor driver
  * interfaces from drv_sensor.h
  */
 
diff --git a/apps/drivers/drv_gyro.h b/apps/drivers/drv_gyro.h
index 5c646f243..0dbf05c5b 100644
--- a/apps/drivers/drv_gyro.h
+++ b/apps/drivers/drv_gyro.h
@@ -58,7 +58,7 @@ struct gyro_report {
 	float temperature;	/**< temperature in degrees celcius */
 	float range_rad_s;
 	float scaling;
-	
+
 	int16_t x_raw;
 	int16_t y_raw;
 	int16_t z_raw;
diff --git a/apps/drivers/drv_hrt.h b/apps/drivers/drv_hrt.h
index a6d501f53..3b493a81a 100644
--- a/apps/drivers/drv_hrt.h
+++ b/apps/drivers/drv_hrt.h
@@ -62,7 +62,7 @@ typedef uint64_t	hrt_abstime;
  * they are serialised with respect to each other, and must not
  * block.
  */
-typedef void		(* hrt_callout)(void *arg);
+typedef void	(* hrt_callout)(void *arg);
 
 /*
  * Callout record.
@@ -113,7 +113,7 @@ __EXPORT extern void	hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, h
 __EXPORT extern void	hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg);
 
 /*
- * If this returns true, the entry has been invoked and removed from the callout list, 
+ * If this returns true, the entry has been invoked and removed from the callout list,
  * or it has never been entered.
  *
  * Always returns false for repeating callouts.
diff --git a/apps/drivers/drv_mag.h b/apps/drivers/drv_mag.h
index 7ba9dd695..114bcb646 100644
--- a/apps/drivers/drv_mag.h
+++ b/apps/drivers/drv_mag.h
@@ -59,7 +59,7 @@ struct mag_report {
 	float z;
 	float range_ga;
 	float scaling;
-	
+
 	int16_t x_raw;
 	int16_t y_raw;
 	int16_t z_raw;
diff --git a/apps/drivers/drv_pwm_output.h b/apps/drivers/drv_pwm_output.h
index fc458e9b0..97033f2cd 100644
--- a/apps/drivers/drv_pwm_output.h
+++ b/apps/drivers/drv_pwm_output.h
@@ -136,7 +136,7 @@ __EXPORT extern void	up_pwm_servo_deinit(void);
  *
  * When disarmed, servos output no pulse.
  *
- * @bug This function should, but does not, guarantee that any pulse 
+ * @bug This function should, but does not, guarantee that any pulse
  *      currently in progress is cleanly completed.
  *
  * @param armed		If true, outputs are armed; if false they
diff --git a/apps/drivers/drv_sensor.h b/apps/drivers/drv_sensor.h
index 325bd42bf..3a89cab9d 100644
--- a/apps/drivers/drv_sensor.h
+++ b/apps/drivers/drv_sensor.h
@@ -52,7 +52,7 @@
 #define _SENSORIOC(_n)		(_IOC(_SENSORIOCBASE, _n))
 
 /**
- * Set the driver polling rate to (arg) Hz, or one of the SENSOR_POLLRATE 
+ * Set the driver polling rate to (arg) Hz, or one of the SENSOR_POLLRATE
  * constants
  */
 #define SENSORIOCSPOLLRATE	_SENSORIOC(0)
@@ -68,8 +68,8 @@
 #define SENSOR_POLLRATE_MAX		1000002	/**< poll at device maximum rate */
 #define SENSOR_POLLRATE_DEFAULT		1000003	/**< poll at driver normal rate */
 
-/** 
- * Set the internal queue depth to (arg) entries, must be at least 1 
+/**
+ * Set the internal queue depth to (arg) entries, must be at least 1
  *
  * This sets the upper bound on the number of readings that can be
  * read from the driver.
diff --git a/apps/drivers/drv_tone_alarm.h b/apps/drivers/drv_tone_alarm.h
index 27b146de9..0c6afc64c 100644
--- a/apps/drivers/drv_tone_alarm.h
+++ b/apps/drivers/drv_tone_alarm.h
@@ -34,8 +34,8 @@
 /*
  * Driver for the PX4 audio alarm port, /dev/tone_alarm.
  *
- * The tone_alarm driver supports a set of predefined "alarm" 
- * patterns and one user-supplied pattern.  Patterns are ordered by 
+ * The tone_alarm driver supports a set of predefined "alarm"
+ * patterns and one user-supplied pattern.  Patterns are ordered by
  * priority, with a higher-priority pattern interrupting any
  * lower-priority pattern that might be playing.
  *
diff --git a/apps/drivers/hmc5883/hmc5883.cpp b/apps/drivers/hmc5883/hmc5883.cpp
index bfe79302d..7943012cc 100644
--- a/apps/drivers/hmc5883/hmc5883.cpp
+++ b/apps/drivers/hmc5883/hmc5883.cpp
@@ -332,13 +332,16 @@ HMC5883::init()
 	/* allocate basic report buffers */
 	_num_reports = 2;
 	_reports = new struct mag_report[_num_reports];
+
 	if (_reports == nullptr)
 		goto out;
+
 	_oldest_report = _next_report = 0;
 
 	/* get a publish handle on the mag topic */
 	memset(&_reports[0], 0, sizeof(_reports[0]));
 	_mag_topic = orb_advertise(ORB_ID(sensor_mag), &_reports[0]);
+
 	if (_mag_topic < 0)
 		debug("failed to create sensor_mag object");
 
@@ -358,30 +361,37 @@ int HMC5883::set_range(unsigned range)
 		range_bits = 0x00;
 		_range_scale = 1.0f / 1370.0f;
 		_range_ga = 0.88f;
+
 	} else if (range <= 1) {
 		range_bits = 0x01;
 		_range_scale = 1.0f / 1090.0f;
 		_range_ga = 1.3f;
+
 	} else if (range <= 2) {
 		range_bits = 0x02;
 		_range_scale = 1.0f / 820.0f;
 		_range_ga = 1.9f;
+
 	} else if (range <= 3) {
 		range_bits = 0x03;
 		_range_scale = 1.0f / 660.0f;
 		_range_ga = 2.5f;
+
 	} else if (range <= 4) {
 		range_bits = 0x04;
 		_range_scale = 1.0f / 440.0f;
 		_range_ga = 4.0f;
+
 	} else if (range <= 4.7f) {
 		range_bits = 0x05;
 		_range_scale = 1.0f / 390.0f;
 		_range_ga = 4.7f;
+
 	} else if (range <= 5.6f) {
 		range_bits = 0x06;
 		_range_scale = 1.0f / 330.0f;
 		_range_ga = 5.6f;
+
 	} else {
 		range_bits = 0x07;
 		_range_scale = 1.0f / 230.0f;
@@ -413,10 +423,12 @@ HMC5883::probe()
 	uint8_t data[3] = {0, 0, 0};
 
 	_retries = 10;
+
 	if (read_reg(ADDR_ID_A, data[0]) ||
 	    read_reg(ADDR_ID_B, data[1]) ||
 	    read_reg(ADDR_ID_C, data[2]))
 		debug("read_reg fail");
+
 	_retries = 1;
 
 	if ((data[0] != ID_A_WHO_AM_I) ||
@@ -552,6 +564,7 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case SENSORIOCGPOLLRATE:
 		if (_measure_ticks == 0)
 			return SENSOR_POLLRATE_MANUAL;
+
 		return (1000 / _measure_ticks);
 
 	case SENSORIOCSQUEUEDEPTH: {
@@ -666,7 +679,7 @@ HMC5883::cycle()
 		if (_measure_ticks > USEC2TICK(HMC5883_CONVERSION_INTERVAL)) {
 
 			/* schedule a fresh cycle call when we are ready to measure again */
-			work_queue(HPWORK, 
+			work_queue(HPWORK,
 				   &_work,
 				   (worker_t)&HMC5883::cycle_trampoline,
 				   this,
@@ -684,7 +697,7 @@ HMC5883::cycle()
 	_collect_phase = true;
 
 	/* schedule a fresh cycle call when the measurement is done */
-	work_queue(HPWORK, 
+	work_queue(HPWORK,
 		   &_work,
 		   (worker_t)&HMC5883::cycle_trampoline,
 		   this,
@@ -850,7 +863,8 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 	warnx("starting mag scale calibration");
 
 	/* do a simple demand read */
-	sz = read(filp, (char*)&report, sizeof(report));
+	sz = read(filp, (char *)&report, sizeof(report));
+
 	if (sz != sizeof(report)) {
 		warn("immediate read failed");
 		ret = 1;
@@ -920,6 +934,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 		if (sz != sizeof(report)) {
 			warn("periodic read failed");
 			goto out;
+
 		} else {
 			avg_excited[0] += report.x;
 			avg_excited[1] += report.y;
@@ -946,7 +961,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 	scaling[2] = fabsf(1.08f / avg_excited[2]);
 
 	warnx("axes scaling: %.6f  %.6f  %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]);
-	
+
 	/* set back to normal mode */
 	/* Set to 1.1 Gauss */
 	if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) {
@@ -971,12 +986,15 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 
 	ret = OK;
 
-	out:
-		if (ret == OK) {
-			warnx("mag scale calibration successfully finished.");
-		} else {
-			warnx("mag scale calibration failed.");
-		}
+out:
+
+	if (ret == OK) {
+		warnx("mag scale calibration successfully finished.");
+
+	} else {
+		warnx("mag scale calibration failed.");
+	}
+
 	return ret;
 }
 
@@ -986,16 +1004,22 @@ int HMC5883::set_excitement(unsigned enable)
 	/* arm the excitement strap */
 	uint8_t conf_reg;
 	ret = read_reg(ADDR_CONF_A, conf_reg);
+
 	if (OK != ret)
 		perf_count(_comms_errors);
+
 	if (((int)enable) < 0) {
 		conf_reg |= 0x01;
+
 	} else if (enable > 0) {
 		conf_reg |= 0x02;
+
 	} else {
 		conf_reg &= ~0x03;
 	}
+
 	ret = write_reg(ADDR_CONF_A, conf_reg);
+
 	if (OK != ret)
 		perf_count(_comms_errors);
 
@@ -1087,17 +1111,22 @@ start()
 
 	/* set the poll rate to default, starts automatic data collection */
 	fd = open(MAG_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0)
 		goto fail;
+
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
 		goto fail;
+
 	exit(0);
 
 fail:
+
 	if (g_dev != nullptr) {
 		delete g_dev;
 		g_dev = nullptr;
 	}
+
 	errx(1, "driver start failed");
 }
 
@@ -1114,11 +1143,13 @@ test()
 	int ret;
 
 	int fd = open(MAG_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0)
 		err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
 
 	/* do a simple demand read */
 	sz = read(fd, &report, sizeof(report));
+
 	if (sz != sizeof(report))
 		err(1, "immediate read failed");
 
@@ -1167,7 +1198,7 @@ test()
  * Basic idea:
  *
  *   output = (ext field +- 1.1 Ga self-test) * scale factor
- * 
+ *
  * and consequently:
  *
  *   1.1 Ga = (excited - normal) * scale factor
@@ -1207,6 +1238,7 @@ int calibrate()
 	int ret;
 
 	int fd = open(MAG_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0)
 		err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
 
@@ -1218,6 +1250,7 @@ int calibrate()
 
 	if (ret == OK) {
 		errx(0, "PASS");
+
 	} else {
 		errx(1, "FAIL");
 	}
@@ -1230,10 +1263,13 @@ void
 reset()
 {
 	int fd = open(MAG_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0)
 		err(1, "failed ");
+
 	if (ioctl(fd, SENSORIOCRESET, 0) < 0)
 		err(1, "driver reset failed");
+
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
 		err(1, "driver poll restart failed");
 
@@ -1290,6 +1326,7 @@ hmc5883_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "calibrate")) {
 		if (hmc5883::calibrate() == 0) {
 			errx(0, "calibration successful");
+
 		} else {
 			errx(1, "calibration failed");
 		}
diff --git a/apps/drivers/l3gd20/l3gd20.cpp b/apps/drivers/l3gd20/l3gd20.cpp
index 4606cd654..4915b81e3 100644
--- a/apps/drivers/l3gd20/l3gd20.cpp
+++ b/apps/drivers/l3gd20/l3gd20.cpp
@@ -317,6 +317,7 @@ L3GD20::init()
 	_num_reports = 2;
 	_oldest_report = _next_report = 0;
 	_reports = new struct gyro_report[_num_reports];
+
 	if (_reports == nullptr)
 		goto out;
 
@@ -330,7 +331,7 @@ L3GD20::init()
 	write_reg(ADDR_CTRL_REG3, 0);		/* no interrupts - we don't use them */
 	write_reg(ADDR_CTRL_REG4, REG4_BDU);
 	write_reg(ADDR_CTRL_REG5, 0);
-		
+
 	write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE);	  /* disable wake-on-interrupt */
 	write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */
 
@@ -451,6 +452,7 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case SENSORIOCGPOLLRATE:
 		if (_call_interval == 0)
 			return SENSOR_POLLRATE_MANUAL;
+
 		return 1000000 / _call_interval;
 
 	case SENSORIOCSQUEUEDEPTH: {
@@ -478,7 +480,7 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
 		}
 
 	case SENSORIOCGQUEUEDEPTH:
-		return _num_reports -1;
+		return _num_reports - 1;
 
 	case SENSORIOCRESET:
 		/* XXX implement */
@@ -497,12 +499,12 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case GYROIOCSSCALE:
 		/* copy scale in */
-		memcpy(&_gyro_scale, (struct gyro_scale*) arg, sizeof(_gyro_scale));
+		memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct gyro_scale*) arg, &_gyro_scale, sizeof(_gyro_scale));
+		memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCSRANGE:
@@ -562,12 +564,15 @@ L3GD20::set_range(unsigned max_dps)
 	if (max_dps <= 250) {
 		_current_range = 250;
 		bits |= RANGE_250DPS;
+
 	} else if (max_dps <= 500) {
 		_current_range = 500;
 		bits |= RANGE_500DPS;
+
 	} else if (max_dps <= 2000) {
 		_current_range = 2000;
 		bits |= RANGE_2000DPS;
+
 	} else {
 		return -EINVAL;
 	}
@@ -590,15 +595,19 @@ L3GD20::set_samplerate(unsigned frequency)
 	if (frequency <= 95) {
 		_current_rate = 95;
 		bits |= RATE_95HZ_LP_25HZ;
+
 	} else if (frequency <= 190) {
 		_current_rate = 190;
 		bits |= RATE_190HZ_LP_25HZ;
+
 	} else if (frequency <= 380) {
 		_current_rate = 380;
 		bits |= RATE_380HZ_LP_30HZ;
+
 	} else if (frequency <= 760) {
 		_current_rate = 760;
 		bits |= RATE_760HZ_LP_30HZ;
+
 	} else {
 		return -EINVAL;
 	}
@@ -746,17 +755,21 @@ start()
 
 	/* set the poll rate to default, starts automatic data collection */
 	fd = open(GYRO_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0)
 		goto fail;
+
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
 		goto fail;
 
 	exit(0);
 fail:
+
 	if (g_dev != nullptr) {
 		delete g_dev;
 		g_dev = nullptr;
 	}
+
 	errx(1, "driver start failed");
 }
 
@@ -774,15 +787,17 @@ test()
 
 	/* get the driver */
 	fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
+
 	if (fd_gyro < 0)
 		err(1, "%s open failed", GYRO_DEVICE_PATH);
 
 	/* reset to manual polling */
 	if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
 		err(1, "reset to manual polling");
-	
+
 	/* do a simple demand read */
 	sz = read(fd_gyro, &g_report, sizeof(g_report));
+
 	if (sz != sizeof(g_report))
 		err(1, "immediate gyro read failed");
 
@@ -793,7 +808,7 @@ test()
 	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
 	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
 	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
-		(int)((g_report.range_rad_s / M_PI_F) * 180.0f+0.5f));
+	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
 
 	/* XXX add poll-rate tests here too */
 
@@ -808,10 +823,13 @@ void
 reset()
 {
 	int fd = open(GYRO_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0)
 		err(1, "failed ");
+
 	if (ioctl(fd, SENSORIOCRESET, 0) < 0)
 		err(1, "driver reset failed");
+
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
 		err(1, "driver poll restart failed");
 
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp
index 18b139b32..90786886a 100644
--- a/apps/drivers/mpu6000/mpu6000.cpp
+++ b/apps/drivers/mpu6000/mpu6000.cpp
@@ -569,6 +569,7 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case SENSORIOCGPOLLRATE:
 		if (_call_interval == 0)
 			return SENSOR_POLLRATE_MANUAL;
+
 		return 1000000 / _call_interval;
 
 	case SENSORIOCSQUEUEDEPTH:
@@ -592,12 +593,12 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case ACCELIOCSSCALE:
 		/* copy scale in */
-		memcpy(&_accel_scale, (struct accel_scale*) arg, sizeof(_accel_scale));
+		memcpy(&_accel_scale, (struct accel_scale *) arg, sizeof(_accel_scale));
 		return OK;
 
 	case ACCELIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct accel_scale*) arg, &_accel_scale, sizeof(_accel_scale));
+		memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale));
 		return OK;
 
 	case ACCELIOCSRANGE:
@@ -639,12 +640,12 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case GYROIOCSSCALE:
 		/* copy scale in */
-		memcpy(&_gyro_scale, (struct gyro_scale*) arg, sizeof(_gyro_scale));
+		memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct gyro_scale*) arg, &_gyro_scale, sizeof(_gyro_scale));
+		memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCSRANGE:
@@ -976,17 +977,21 @@ start()
 
 	/* set the poll rate to default, starts automatic data collection */
 	fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0)
 		goto fail;
+
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
 		goto fail;
 
 	exit(0);
 fail:
+
 	if (g_dev != nullptr) {
 		delete g_dev;
 		g_dev = nullptr;
 	}
+
 	errx(1, "driver start failed");
 }
 
@@ -1006,21 +1011,24 @@ test()
 
 	/* get the driver */
 	fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0)
-		err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)", 
-			ACCEL_DEVICE_PATH);
+		err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)",
+		    ACCEL_DEVICE_PATH);
 
 	/* get the driver */
 	fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
+
 	if (fd_gyro < 0)
 		err(1, "%s open failed", GYRO_DEVICE_PATH);
 
 	/* reset to manual polling */
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
 		err(1, "reset to manual polling");
-	
+
 	/* do a simple demand read */
 	sz = read(fd, &a_report, sizeof(a_report));
+
 	if (sz != sizeof(a_report))
 		err(1, "immediate acc read failed");
 
@@ -1033,10 +1041,11 @@ test()
 	warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
 	warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
 	warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
-		(double)(a_report.range_m_s2 / 9.81f));
+	      (double)(a_report.range_m_s2 / 9.81f));
 
 	/* do a simple demand read */
 	sz = read(fd_gyro, &g_report, sizeof(g_report));
+
 	if (sz != sizeof(g_report))
 		err(1, "immediate gyro read failed");
 
@@ -1047,7 +1056,7 @@ test()
 	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
 	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
 	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
-		(int)((g_report.range_rad_s / M_PI_F) * 180.0f+0.5f));
+	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
 
 	warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
 	warnx("temp:  \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
@@ -1066,10 +1075,13 @@ void
 reset()
 {
 	int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0)
 		err(1, "failed ");
+
 	if (ioctl(fd, SENSORIOCRESET, 0) < 0)
 		err(1, "driver reset failed");
+
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
 		err(1, "driver poll restart failed");
 
diff --git a/apps/drivers/ms5611/ms5611.cpp b/apps/drivers/ms5611/ms5611.cpp
index 893ef6c37..699cd36d2 100644
--- a/apps/drivers/ms5611/ms5611.cpp
+++ b/apps/drivers/ms5611/ms5611.cpp
@@ -303,6 +303,7 @@ MS5611::init()
 	/* allocate basic report buffers */
 	_num_reports = 2;
 	_reports = new struct baro_report[_num_reports];
+
 	if (_reports == nullptr)
 		goto out;
 
@@ -311,6 +312,7 @@ MS5611::init()
 	/* get a publish handle on the baro topic */
 	memset(&_reports[0], 0, sizeof(_reports[0]));
 	_baro_topic = orb_advertise(ORB_ID(sensor_baro), &_reports[0]);
+
 	if (_baro_topic < 0)
 		debug("failed to create sensor_baro object");
 
@@ -323,9 +325,10 @@ int
 MS5611::probe()
 {
 	_retries = 10;
-	if((OK == probe_address(MS5611_ADDRESS_1)) ||
-	   (OK == probe_address(MS5611_ADDRESS_2))) {
-	   	_retries = 1;
+
+	if ((OK == probe_address(MS5611_ADDRESS_1)) ||
+	    (OK == probe_address(MS5611_ADDRESS_2))) {
+		_retries = 1;
 		return OK;
 	}
 
@@ -484,6 +487,7 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case SENSORIOCGPOLLRATE:
 		if (_measure_ticks == 0)
 			return SENSOR_POLLRATE_MANUAL;
+
 		return (1000 / _measure_ticks);
 
 	case SENSORIOCSQUEUEDEPTH: {
@@ -518,9 +522,11 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
 		return -EINVAL;
 
 	case BAROIOCSMSLPRESSURE:
+
 		/* range-check for sanity */
 		if ((arg < 80000) || (arg > 120000))
 			return -EINVAL;
+
 		_msl_pressure = arg;
 		return OK;
 
@@ -688,7 +694,7 @@ MS5611::collect()
 			int64_t SENS2 = 5 * f >> 2;
 
 			if (_TEMP < -1500) {
-				int64_t f2 = POW2(_TEMP + 1500); 
+				int64_t f2 = POW2(_TEMP + 1500);
 				OFF2 += 7 * f2;
 				SENS2 += 11 * f2 >> 1;
 			}
@@ -697,6 +703,7 @@ MS5611::collect()
 			_OFF  -= OFF2;
 			_SENS -= SENS2;
 		}
+
 	} else {
 
 		/* pressure calculation, result in Pa */
@@ -814,8 +821,8 @@ MS5611::read_prom()
 		uint16_t	w;
 	} cvt;
 
-	/* 
-	 * Wait for PROM contents to be in the device (2.8 ms) in the case we are 
+	/*
+	 * Wait for PROM contents to be in the device (2.8 ms) in the case we are
 	 * called immediately after reset.
 	 */
 	usleep(3000);
@@ -941,17 +948,22 @@ start()
 
 	/* set the poll rate to default, starts automatic data collection */
 	fd = open(BARO_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0)
 		goto fail;
+
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
 		goto fail;
+
 	exit(0);
 
 fail:
+
 	if (g_dev != nullptr) {
 		delete g_dev;
 		g_dev = nullptr;
 	}
+
 	errx(1, "driver start failed");
 }
 
@@ -968,11 +980,13 @@ test()
 	int ret;
 
 	int fd = open(BARO_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0)
 		err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH);
 
 	/* do a simple demand read */
 	sz = read(fd, &report, sizeof(report));
+
 	if (sz != sizeof(report))
 		err(1, "immediate read failed");
 
@@ -1025,10 +1039,13 @@ void
 reset()
 {
 	int fd = open(BARO_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0)
 		err(1, "failed ");
+
 	if (ioctl(fd, SENSORIOCRESET, 0) < 0)
 		err(1, "driver reset failed");
+
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
 		err(1, "driver poll restart failed");
 
@@ -1061,6 +1078,7 @@ calibrate(unsigned altitude)
 	float	p1;
 
 	int fd = open(BARO_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0)
 		err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH);
 
@@ -1070,6 +1088,7 @@ calibrate(unsigned altitude)
 
 	/* average a few measurements */
 	pressure = 0.0f;
+
 	for (unsigned i = 0; i < 20; i++) {
 		struct pollfd fds;
 		int ret;
@@ -1091,6 +1110,7 @@ calibrate(unsigned altitude)
 
 		pressure += report.pressure;
 	}
+
 	pressure /= 20;		/* average */
 	pressure /= 10;		/* scale from millibar to kPa */
 
@@ -1108,8 +1128,10 @@ calibrate(unsigned altitude)
 
 	/* save as integer Pa */
 	p1 *= 1000.0f;
+
 	if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK)
 		err(1, "BAROIOCSMSLPRESSURE");
+
 	exit(0);
 }
 
@@ -1150,7 +1172,7 @@ ms5611_main(int argc, char *argv[])
 			errx(1, "missing altitude");
 
 		long altitude = strtol(argv[2], nullptr, 10);
-		
+
 		ms5611::calibrate(altitude);
 	}
 
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp
index 66db1c360..995c9393f 100644
--- a/apps/drivers/px4io/px4io.cpp
+++ b/apps/drivers/px4io/px4io.cpp
@@ -110,7 +110,7 @@ private:
 	bool			_primary_pwm_device;	///< true if we are the default PWM output
 
 	volatile bool		_switch_armed;	///< PX4IO switch armed state
-						// XXX how should this work?
+	// XXX how should this work?
 
 	bool			_send_needed;	///< If true, we need to send a packet to IO
 
@@ -149,13 +149,13 @@ private:
 	 * group/index during mixing.
 	 */
 	static int		control_callback(uintptr_t handle,
-						 uint8_t control_group,
-						 uint8_t control_index,
-						 float &input);
+			uint8_t control_group,
+			uint8_t control_index,
+			float &input);
 };
 
 
-namespace 
+namespace
 {
 
 PX4IO	*g_dev;
@@ -190,6 +190,7 @@ PX4IO::~PX4IO()
 
 		/* spin waiting for the thread to stop */
 		unsigned i = 10;
+
 		do {
 			/* wait 50ms - it should wake every 100ms or so worst-case */
 			usleep(50000);
@@ -223,11 +224,13 @@ PX4IO::init()
 
 	/* do regular cdev init */
 	ret = CDev::init();
+
 	if (ret != OK)
 		return ret;
 
 	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
 	ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
+
 	if (ret == OK) {
 		log("default PWM output device");
 		_primary_pwm_device = true;
@@ -235,6 +238,7 @@ PX4IO::init()
 
 	/* start the IO interface task */
 	_task = task_create("px4io", SCHED_PRIORITY_DEFAULT, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr);
+
 	if (_task < 0) {
 		debug("task start failed: %d", errno);
 		return -errno;
@@ -256,6 +260,7 @@ PX4IO::task_main()
 
 	/* open the serial port */
 	_serial_fd = ::open("/dev/ttyS2", O_RDWR);
+
 	if (_serial_fd < 0) {
 		debug("failed to open serial port for IO: %d", errno);
 		_task = -1;
@@ -343,6 +348,7 @@ PX4IO::task_main()
 					_send_needed = true;
 				}
 			}
+
 			if (fds[2].revents & POLLIN) {
 
 				orb_copy(ORB_ID(actuator_armed), _t_armed, &_controls);
@@ -364,9 +370,9 @@ PX4IO::task_main()
 
 int
 PX4IO::control_callback(uintptr_t handle,
-			 uint8_t control_group,
-			 uint8_t control_index,
-			 float &input)
+			uint8_t control_group,
+			uint8_t control_index,
+			float &input)
 {
 	const actuator_controls_s *controls = (actuator_controls_s *)handle;
 
@@ -458,13 +464,16 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		break;
 
 	case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
+
 		/* fake an update to the selected servo channel */
 		if ((arg >= 900) && (arg <= 2100)) {
 			_outputs.output[cmd - PWM_SERVO_SET(0)] = arg;
 			_send_needed = true;
+
 		} else {
 			ret = -EINVAL;
 		}
+
 		break;
 
 	case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
@@ -481,6 +490,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 			delete _mixers;
 			_mixers = nullptr;
 		}
+
 		break;
 
 	case MIXERIOCADDSIMPLE: {
@@ -519,6 +529,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 
 			/* allocate a new mixer group and load it from the file */
 			newmixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
+
 			if (newmixers->load_from_file(path) != 0) {
 				delete newmixers;
 				ret = -EINVAL;
@@ -528,6 +539,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 			if (_mixers != nullptr) {
 				delete _mixers;
 			}
+
 			_mixers = newmixers;
 
 		}
@@ -537,6 +549,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		/* not a recognised value */
 		ret = -ENOTTY;
 	}
+
 	unlock();
 
 	return ret;
@@ -576,6 +589,7 @@ px4io_main(int argc, char *argv[])
 		if (argc > 2) {
 			fn[0] = argv[2];
 			fn[1] = nullptr;
+
 		} else {
 			fn[0] = "/fs/microsd/px4io.bin";
 			fn[1] =	"/etc/px4io.bin";
@@ -589,18 +603,24 @@ px4io_main(int argc, char *argv[])
 		switch (ret) {
 		case OK:
 			break;
+
 		case -ENOENT:
 			errx(1, "PX4IO firmware file not found");
+
 		case -EEXIST:
 		case -EIO:
 			errx(1, "error updating PX4IO - check that bootloader mode is enabled");
+
 		case -EINVAL:
 			errx(1, "verify failed - retry the update");
+
 		case -ETIMEDOUT:
 			errx(1, "timed out waiting for bootloader - power-cycle and try again");
+
 		default:
 			errx(1, "unexpected error %d", ret);
 		}
+
 		return ret;
 	}
 
diff --git a/apps/drivers/px4io/uploader.cpp b/apps/drivers/px4io/uploader.cpp
index 0fbbac839..5669aeb01 100644
--- a/apps/drivers/px4io/uploader.cpp
+++ b/apps/drivers/px4io/uploader.cpp
@@ -67,6 +67,7 @@ PX4IO_Uploader::upload(const char *filenames[])
 	int	ret;
 
 	_io_fd = open("/dev/ttyS2", O_RDWR);
+
 	if (_io_fd < 0) {
 		log("could not open interface");
 		return -errno;
@@ -74,6 +75,7 @@ PX4IO_Uploader::upload(const char *filenames[])
 
 	/* look for the bootloader */
 	ret = sync();
+
 	if (ret != OK) {
 		/* this is immediately fatal */
 		log("bootloader not responding");
@@ -87,17 +89,20 @@ PX4IO_Uploader::upload(const char *filenames[])
 			log("failed to open %s", filenames[i]);
 			continue;
 		}
+
 		log("using firmware from %s", filenames[i]);
 		break;
 	}
+
 	if (_fw_fd == -1)
 		return -ENOENT;
 
 	/* do the usual program thing - allow for failure */
 	for (unsigned retries = 0; retries < 1; retries++) {
 		if (retries > 0) {
-			log("retrying update..."); 
+			log("retrying update...");
 			ret = sync();
+
 			if (ret != OK) {
 				/* this is immediately fatal */
 				log("bootloader not responding");
@@ -106,25 +111,33 @@ PX4IO_Uploader::upload(const char *filenames[])
 		}
 
 		ret = erase();
+
 		if (ret != OK) {
 			log("erase failed");
 			continue;
 		}
+
 		ret = program();
+
 		if (ret != OK) {
 			log("program failed");
 			continue;
 		}
+
 		ret = verify();
+
 		if (ret != OK) {
 			log("verify failed");
 			continue;
 		}
+
 		ret = reboot();
+
 		if (ret != OK) {
 			log("reboot failed");
 			return ret;
 		}
+
 		log("update complete");
 
 		ret = OK;
@@ -145,6 +158,7 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
 
 	/* wait 100 ms for a character */
 	int ret = ::poll(&fds[0], 1, timeout);
+
 	if (ret < 1) {
 		//log("poll timeout %d", ret);
 		return -ETIMEDOUT;
@@ -160,9 +174,11 @@ PX4IO_Uploader::recv(uint8_t *p, unsigned count)
 {
 	while (count--) {
 		int ret = recv(*p++);
+
 		if (ret != OK)
 			return ret;
 	}
+
 	return OK;
 }
 
@@ -175,7 +191,7 @@ PX4IO_Uploader::drain()
 	do {
 		ret = recv(c, 10);
 		//log("discard 0x%02x", c);
-	} while(ret == OK);
+	} while (ret == OK);
 }
 
 int
@@ -184,6 +200,7 @@ PX4IO_Uploader::send(uint8_t c)
 	//log("send 0x%02x", c);
 	if (write(_io_fd, &c, 1) != 1)
 		return -errno;
+
 	return OK;
 }
 
@@ -192,9 +209,11 @@ PX4IO_Uploader::send(uint8_t *p, unsigned count)
 {
 	while (count--) {
 		int ret = send(*p++);
+
 		if (ret != OK)
 			return ret;
 	}
+
 	return OK;
 }
 
@@ -205,15 +224,20 @@ PX4IO_Uploader::get_sync(unsigned timeout)
 	int ret;
 
 	ret = recv(c[0], timeout);
+
 	if (ret != OK)
 		return ret;
+
 	ret = recv(c[1], timeout);
+
 	if (ret != OK)
 		return ret;
+
 	if ((c[0] != PROTO_INSYNC) || (c[1] != PROTO_OK)) {
 		log("bad sync 0x%02x,0x%02x", c[0], c[1]);
 		return -EIO;
 	}
+
 	return OK;
 }
 
@@ -221,9 +245,11 @@ int
 PX4IO_Uploader::sync()
 {
 	drain();
+
 	/* complete any pending program operation */
 	for (unsigned i = 0; i < (PROG_MULTI_MAX + 6); i++)
 		send(0);
+
 	send(PROTO_GET_SYNC);
 	send(PROTO_EOC);
 	return get_sync();
@@ -239,8 +265,10 @@ PX4IO_Uploader::get_info(int param, uint32_t &val)
 	send(PROTO_EOC);
 
 	ret = recv((uint8_t *)&val, sizeof(val));
+
 	if (ret != OK)
 		return ret;
+
 	return get_sync();
 }
 
@@ -267,10 +295,13 @@ PX4IO_Uploader::program()
 		/* get more bytes to program */
 		//log("  %d", (int)lseek(_fw_fd, 0, SEEK_CUR));
 		count = read(_fw_fd, file_buf, sizeof(file_buf));
+
 		if (count == 0)
 			return OK;
+
 		if (count < 0)
 			return -errno;
+
 		ASSERT((count % 4) == 0);
 
 		send(PROTO_PROG_MULTI);
@@ -279,6 +310,7 @@ PX4IO_Uploader::program()
 		send(PROTO_EOC);
 
 		ret = get_sync(1000);
+
 		if (ret != OK)
 			return ret;
 	}
@@ -297,6 +329,7 @@ PX4IO_Uploader::verify()
 	send(PROTO_CHIP_VERIFY);
 	send(PROTO_EOC);
 	ret = get_sync();
+
 	if (ret != OK)
 		return ret;
 
@@ -304,19 +337,24 @@ PX4IO_Uploader::verify()
 		/* get more bytes to verify */
 		int base = (int)lseek(_fw_fd, 0, SEEK_CUR);
 		count = read(_fw_fd, file_buf, sizeof(file_buf));
+
 		if (count == 0)
 			break;
+
 		if (count < 0)
 			return -errno;
+
 		ASSERT((count % 4) == 0);
 
 		send(PROTO_READ_MULTI);
 		send(count);
 		send(PROTO_EOC);
+
 		for (ssize_t i = 0; i < count; i++) {
 			uint8_t c;
 
 			ret = recv(c);
+
 			if (ret != OK) {
 				log("%d: got %d waiting for bytes", base + i, ret);
 				return ret;
@@ -327,12 +365,15 @@ PX4IO_Uploader::verify()
 				return -EINVAL;
 			}
 		}
+
 		ret = get_sync();
+
 		if (ret != OK) {
 			log("timeout waiting for post-verify sync");
 			return ret;
 		}
 	}
+
 	return OK;
 }
 
@@ -358,6 +399,7 @@ PX4IO_Uploader::compare(bool &identical)
 	send(PROTO_CHIP_VERIFY);
 	send(PROTO_EOC);
 	ret = get_sync();
+
 	if (ret != OK)
 		return ret;
 
@@ -365,6 +407,7 @@ PX4IO_Uploader::compare(bool &identical)
 	send(sizeof(fw_vectors));
 	send(PROTO_EOC);
 	ret = recv((uint8_t *)&fw_vectors[0], sizeof(fw_vectors));
+
 	if (ret != OK)
 		return ret;
 
diff --git a/apps/drivers/stm32/drv_hrt.c b/apps/drivers/stm32/drv_hrt.c
index 11b98fd1b..1ac90b16d 100644
--- a/apps/drivers/stm32/drv_hrt.c
+++ b/apps/drivers/stm32/drv_hrt.c
@@ -30,7 +30,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
- 
+
 /**
  * @file drv_hrt.c
  *
@@ -41,7 +41,7 @@
  * Note that really, this could use systick too, but that's
  * monopolised by NuttX and stealing it would just be awkward.
  *
- * We don't use the NuttX STM32 driver per se; rather, we 
+ * We don't use the NuttX STM32 driver per se; rather, we
  * claim the timer and then drive it directly.
  */
 
@@ -264,10 +264,10 @@ static void		hrt_latency_update(void);
 
 /* callout list manipulation */
 static void		hrt_call_internal(struct hrt_call *entry,
-					  hrt_abstime deadline,
-					  hrt_abstime interval,
-					  hrt_callout callout,
-					  void *arg);
+		hrt_abstime deadline,
+		hrt_abstime interval,
+		hrt_callout callout,
+		void *arg);
 static void		hrt_call_enter(struct hrt_call *entry);
 static void		hrt_call_reschedule(void);
 static void		hrt_call_invoke(void);
@@ -372,39 +372,39 @@ static void
 hrt_tim_init(void)
 {
 	/* clock/power on our timer */
-        modifyreg32(HRT_TIMER_POWER_REG, 0, HRT_TIMER_POWER_BIT);
+	modifyreg32(HRT_TIMER_POWER_REG, 0, HRT_TIMER_POWER_BIT);
 
-        /* claim our interrupt vector */
-        irq_attach(HRT_TIMER_VECTOR, hrt_tim_isr);
+	/* claim our interrupt vector */
+	irq_attach(HRT_TIMER_VECTOR, hrt_tim_isr);
 
-        /* disable and configure the timer */
-        rCR1 = 0;
-        rCR2 = 0;
-        rSMCR = 0;
-        rDIER = DIER_HRT | DIER_PPM;
-        rCCER = 0;		/* unlock CCMR* registers */
-        rCCMR1 = CCMR1_PPM;		
-        rCCMR2 = CCMR2_PPM;
-        rCCER = CCER_PPM;
-        rDCR = 0;
+	/* disable and configure the timer */
+	rCR1 = 0;
+	rCR2 = 0;
+	rSMCR = 0;
+	rDIER = DIER_HRT | DIER_PPM;
+	rCCER = 0;		/* unlock CCMR* registers */
+	rCCMR1 = CCMR1_PPM;
+	rCCMR2 = CCMR2_PPM;
+	rCCER = CCER_PPM;
+	rDCR = 0;
 
-        /* configure the timer to free-run at 1MHz */
-        rPSC = (HRT_TIMER_CLOCK / 1000000) - 1;	/* this really only works for whole-MHz clocks */
+	/* configure the timer to free-run at 1MHz */
+	rPSC = (HRT_TIMER_CLOCK / 1000000) - 1;	/* this really only works for whole-MHz clocks */
 
-        /* run the full span of the counter */
-        rARR = 0xffff;
+	/* run the full span of the counter */
+	rARR = 0xffff;
 
-        /* set an initial capture a little ways off */
-        rCCR_HRT = 1000;
+	/* set an initial capture a little ways off */
+	rCCR_HRT = 1000;
 
-        /* generate an update event; reloads the counter, all registers */
-        rEGR = GTIM_EGR_UG;
+	/* generate an update event; reloads the counter, all registers */
+	rEGR = GTIM_EGR_UG;
 
-        /* enable the timer */
-        rCR1 = GTIM_CR1_CEN;
+	/* enable the timer */
+	rCR1 = GTIM_CR1_CEN;
 
-        /* enable interrupts */
-        up_enable_irq(HRT_TIMER_VECTOR);
+	/* enable interrupts */
+	up_enable_irq(HRT_TIMER_VECTOR);
 }
 
 #ifdef CONFIG_HRT_PPM
@@ -412,7 +412,7 @@ hrt_tim_init(void)
  * Handle the PPM decoder state machine.
  */
 static void
-hrt_ppm_decode(uint32_t status) 
+hrt_ppm_decode(uint32_t status)
 {
 	uint16_t count = rCCR_PPM;
 	uint16_t width;
@@ -428,10 +428,11 @@ hrt_ppm_decode(uint32_t status)
 	ppm.last_edge = count;
 
 	ppm_edge_history[ppm_edge_next++] = width;
+
 	if (ppm_edge_next >= 32)
 		ppm_edge_next = 0;
 
-	/* 
+	/*
 	 * if this looks like a start pulse, then push the last set of values
 	 * and reset the state machine
 	 */
@@ -441,6 +442,7 @@ hrt_ppm_decode(uint32_t status)
 		if (ppm.next_channel > 4) {
 			for (i = 0; i < ppm.next_channel && i < PPM_MAX_CHANNELS; i++)
 				ppm_buffer[i] = ppm_temp_buffer[i];
+
 			ppm_decoded_channels = i;
 			ppm_last_valid_decode = hrt_absolute_time();
 
@@ -461,10 +463,11 @@ hrt_ppm_decode(uint32_t status)
 		return;
 
 	case ARM:
+
 		/* we expect a pulse giving us the first mark */
 		if (width > PPM_MAX_PULSE_WIDTH)
 			goto error;		/* pulse was too long */
-	
+
 		/* record the mark timing, expect an inactive edge */
 		ppm.last_mark = count;
 		ppm.phase = INACTIVE;
@@ -481,6 +484,7 @@ hrt_ppm_decode(uint32_t status)
 		ppm.last_mark = count;
 
 		ppm_pulse_history[ppm_pulse_next++] = interval;
+
 		if (ppm_pulse_next >= 32)
 			ppm_pulse_next = 0;
 
@@ -493,7 +497,7 @@ hrt_ppm_decode(uint32_t status)
 			ppm_temp_buffer[ppm.next_channel++] = interval;
 
 		ppm.phase = INACTIVE;
-		return;		
+		return;
 
 	}
 
@@ -526,9 +530,11 @@ hrt_tim_isr(int irq, void *context)
 	rSR = ~status;
 
 #ifdef CONFIG_HRT_PPM
+
 	/* was this a PPM edge? */
 	if (status & (SR_INT_PPM | SR_OVF_PPM))
 		hrt_ppm_decode(status);
+
 #endif
 
 	/* was this a timer tick? */
@@ -640,7 +646,7 @@ hrt_init(void)
 void
 hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg)
 {
-	hrt_call_internal(entry, 
+	hrt_call_internal(entry,
 			  hrt_absolute_time() + delay,
 			  0,
 			  callout,
@@ -730,9 +736,11 @@ hrt_call_enter(struct hrt_call *entry)
 		//lldbg("call enter at head, reschedule\n");
 		/* we changed the next deadline, reschedule the timer event */
 		hrt_call_reschedule();
+
 	} else {
 		do {
 			next = (struct hrt_call *)sq_next(&call->link);
+
 			if ((next == NULL) || (entry->deadline < next->deadline)) {
 				//lldbg("call enter after head\n");
 				sq_addafter(&call->link, &entry->link, &callout_queue);
@@ -755,8 +763,10 @@ hrt_call_invoke(void)
 		hrt_abstime now = hrt_absolute_time();
 
 		call = (struct hrt_call *)sq_peek(&callout_queue);
+
 		if (call == NULL)
 			break;
+
 		if (call->deadline > now)
 			break;
 
@@ -764,7 +774,7 @@ hrt_call_invoke(void)
 		//lldbg("call pop\n");
 
 		/* save the intended deadline for periodic calls */
-		deadline = call->deadline; 
+		deadline = call->deadline;
 
 		/* zero the deadline, as the call has occurred */
 		call->deadline = 0;
@@ -804,7 +814,7 @@ hrt_call_reschedule()
 	 * we want.
 	 *
 	 * It is important for accurate timekeeping that the compare
-	 * interrupt fires sufficiently often that the base_time update in 
+	 * interrupt fires sufficiently often that the base_time update in
 	 * hrt_absolute_time runs at least once per timer period.
 	 */
 	if (next != NULL) {
@@ -813,11 +823,13 @@ hrt_call_reschedule()
 			//lldbg("pre-expired\n");
 			/* set a minimal deadline so that we call ASAP */
 			deadline = now + HRT_INTERVAL_MIN;
+
 		} else if (next->deadline < deadline) {
 			//lldbg("due soon\n");
 			deadline = next->deadline;
 		}
 	}
+
 	//lldbg("schedule for %u at %u\n", (unsigned)(deadline & 0xffffffff), (unsigned)(now & 0xffffffff));
 
 	/* set the new compare value and remember it for latency tracking */
@@ -837,6 +849,7 @@ hrt_latency_update(void)
 			return;
 		}
 	}
+
 	/* catch-all at the end */
 	latency_counters[index]++;
 }
diff --git a/apps/drivers/stm32/drv_pwm_servo.c b/apps/drivers/stm32/drv_pwm_servo.c
index 708aa8884..be8934492 100644
--- a/apps/drivers/stm32/drv_pwm_servo.c
+++ b/apps/drivers/stm32/drv_pwm_servo.c
@@ -197,26 +197,29 @@ pwm_channel_init(unsigned channel)
 
 	/* configure the channel */
 	switch (pwm_channels[channel].timer_channel) {
-		case 1:
-			rCCMR1(timer) |= (6 << 4);
-			rCCR1(timer) = pwm_channels[channel].default_value;
-			rCCER(timer) |= (1 << 0);
-			break;
-		case 2:
-			rCCMR1(timer) |= (6 << 12);
-			rCCR2(timer) = pwm_channels[channel].default_value;
-			rCCER(timer) |= (1 << 4);
-			break;
-		case 3:
-			rCCMR2(timer) |= (6 << 4);
-			rCCR3(timer) = pwm_channels[channel].default_value;
-			rCCER(timer) |= (1 << 8);
-			break;
-		case 4:
-			rCCMR2(timer) |= (6 << 12);
-			rCCR4(timer) = pwm_channels[channel].default_value;
-			rCCER(timer) |= (1 << 12);
-			break;
+	case 1:
+		rCCMR1(timer) |= (6 << 4);
+		rCCR1(timer) = pwm_channels[channel].default_value;
+		rCCER(timer) |= (1 << 0);
+		break;
+
+	case 2:
+		rCCMR1(timer) |= (6 << 12);
+		rCCR2(timer) = pwm_channels[channel].default_value;
+		rCCER(timer) |= (1 << 4);
+		break;
+
+	case 3:
+		rCCMR2(timer) |= (6 << 4);
+		rCCR3(timer) = pwm_channels[channel].default_value;
+		rCCER(timer) |= (1 << 8);
+		break;
+
+	case 4:
+		rCCMR2(timer) |= (6 << 12);
+		rCCR4(timer) = pwm_channels[channel].default_value;
+		rCCER(timer) |= (1 << 12);
+		break;
 	}
 }
 
@@ -238,22 +241,28 @@ up_pwm_servo_set(unsigned channel, servo_position_t value)
 	/* configure the channel */
 	if (value > 0)
 		value--;
+
 	switch (pwm_channels[channel].timer_channel) {
-		case 1:
-			rCCR1(timer) = value;
-			break;
-		case 2:
-			rCCR2(timer) = value;
-			break;
-		case 3:
-			rCCR3(timer) = value;
-			break;
-		case 4:
-			rCCR4(timer) = value;
-			break;
-		default:
-			return -1;
+	case 1:
+		rCCR1(timer) = value;
+		break;
+
+	case 2:
+		rCCR2(timer) = value;
+		break;
+
+	case 3:
+		rCCR3(timer) = value;
+		break;
+
+	case 4:
+		rCCR4(timer) = value;
+		break;
+
+	default:
+		return -1;
 	}
+
 	return 0;
 }
 
@@ -275,19 +284,23 @@ up_pwm_servo_get(unsigned channel)
 
 	/* configure the channel */
 	switch (pwm_channels[channel].timer_channel) {
-		case 1:
-			value = rCCR1(timer);
-			break;
-		case 2:
-			value = rCCR2(timer);
-			break;
-		case 3:
-			value = rCCR3(timer);
-			break;
-		case 4:
-			value = rCCR4(timer);
-			break;
+	case 1:
+		value = rCCR1(timer);
+		break;
+
+	case 2:
+		value = rCCR2(timer);
+		break;
+
+	case 3:
+		value = rCCR3(timer);
+		break;
+
+	case 4:
+		value = rCCR4(timer);
+		break;
 	}
+
 	return value;
 }
 
@@ -303,9 +316,10 @@ up_pwm_servo_init(uint32_t channel_mask)
 	/* now init channels */
 	for (unsigned i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
 		/* don't do init for disabled channels; this leaves the pin configs alone */
-		if (((1<<i) & channel_mask) && (pwm_channels[i].gpio != 0))
+		if (((1 << i) & channel_mask) && (pwm_channels[i].gpio != 0))
 			pwm_channel_init(i);
 	}
+
 	return OK;
 }
 
@@ -326,17 +340,18 @@ up_pwm_servo_set_rate(unsigned rate)
 		if (pwm_timers[i].base != 0)
 			pwm_timer_set_rate(i, rate);
 	}
+
 	return OK;
 }
 
 void
 up_pwm_servo_arm(bool armed)
 {
-	/* 
+	/*
 	 * XXX this is inelgant and in particular will either jam outputs at whatever level
 	 * they happen to be at at the time the timers stop or generate runts.
-	 * The right thing is almost certainly to kill auto-reload on the timers so that 
-	 * they just stop at the end of their count for disable, and to reset/restart them 
+	 * The right thing is almost certainly to kill auto-reload on the timers so that
+	 * they just stop at the end of their count for disable, and to reset/restart them
 	 * for enable.
 	 */
 
diff --git a/apps/drivers/stm32/tone_alarm/tone_alarm.cpp b/apps/drivers/stm32/tone_alarm/tone_alarm.cpp
index 00f225dd5..03cf3ee5d 100644
--- a/apps/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/apps/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -34,8 +34,8 @@
 /**
  * Driver for the PX4 audio alarm port, /dev/tone_alarm.
  *
- * The tone_alarm driver supports a set of predefined "alarm" 
- * patterns and one user-supplied pattern.  Patterns are ordered by 
+ * The tone_alarm driver supports a set of predefined "alarm"
+ * patterns and one user-supplied pattern.  Patterns are ordered by
  * priority, with a higher-priority pattern interrupting any
  * lower-priority pattern that might be playing.
  *
@@ -244,7 +244,8 @@ const tone_note ToneAlarm::_patterns[_max_pattern][_max_pattern_len] = {
 	{{TONE_NOTE_C7, 100}},
 	{{TONE_NOTE_D7, 100}},
 	{{TONE_NOTE_E7, 100}},
-	{	//This is tetris ;)
+	{
+		//This is tetris ;)
 		{TONE_NOTE_C6, 40},
 		{TONE_NOTE_G5, 20},
 		{TONE_NOTE_G5S, 20},
@@ -361,6 +362,7 @@ ToneAlarm::init()
 	int ret;
 
 	ret = CDev::init();
+
 	if (ret != OK)
 		return ret;
 
@@ -368,34 +370,34 @@ ToneAlarm::init()
 	stm32_configgpio(GPIO_TONE_ALARM);
 
 	/* clock/power on our timer */
-        modifyreg32(STM32_RCC_APB1ENR, 0, TONE_ALARM_CLOCK_ENABLE);
+	modifyreg32(STM32_RCC_APB1ENR, 0, TONE_ALARM_CLOCK_ENABLE);
 
 	/* initialise the timer */
-        rCR1 = 0;
-        rCR2 = 0;
-        rSMCR = 0;
-        rDIER = 0;
-        rCCER &= TONE_CCER;		/* unlock CCMR* registers */
-        rCCMR1 = TONE_CCMR1;
-        rCCMR2 = TONE_CCMR2;
-        rCCER = TONE_CCER;
-        rDCR = 0;
-
-        /* toggle the CC output each time the count passes 1 */
-        TONE_rCCR = 1;
-
-        /* 
-         * Configure the timebase to free-run at half max frequency.
-         * XXX this should be more flexible in order to get a better
-         * frequency range, but for the F4 with the APB1 timers based
-         * at 42MHz, this gets us down to ~320Hz or so.
-         */
-        rPSC = 1;
-
-        /* make sure the timer is running */
-        rCR1 = GTIM_CR1_CEN;
-
-        debug("ready");
+	rCR1 = 0;
+	rCR2 = 0;
+	rSMCR = 0;
+	rDIER = 0;
+	rCCER &= TONE_CCER;		/* unlock CCMR* registers */
+	rCCMR1 = TONE_CCMR1;
+	rCCMR2 = TONE_CCMR2;
+	rCCER = TONE_CCER;
+	rDCR = 0;
+
+	/* toggle the CC output each time the count passes 1 */
+	TONE_rCCR = 1;
+
+	/*
+	 * Configure the timebase to free-run at half max frequency.
+	 * XXX this should be more flexible in order to get a better
+	 * frequency range, but for the F4 with the APB1 timers based
+	 * at 42MHz, this gets us down to ~320Hz or so.
+	 */
+	rPSC = 1;
+
+	/* make sure the timer is running */
+	rCR1 = GTIM_CR1_CEN;
+
+	debug("ready");
 	return OK;
 }
 
@@ -413,6 +415,7 @@ ToneAlarm::ioctl(file *filp, int cmd, unsigned long arg)
 	switch (cmd) {
 	case TONE_SET_ALARM:
 		debug("TONE_SET_ALARM %u", arg);
+
 		if (new_pattern == 0) {
 			/* cancel any current alarm */
 			_current_pattern = _pattern_none;
@@ -431,10 +434,13 @@ ToneAlarm::ioctl(file *filp, int cmd, unsigned long arg)
 
 			/* and start playing it */
 			next();
+
 		} else {
 			/* current pattern is higher priority than the new pattern, ignore */
 		}
+
 		break;
+
 	default:
 		result = -ENOTTY;
 		break;
@@ -457,8 +463,10 @@ ToneAlarm::write(file *filp, const char *buffer, size_t len)
 	/* sanity-check the size of the write */
 	if (len > (_max_pattern_len * sizeof(tone_note)))
 		return -EFBIG;
+
 	if ((len % sizeof(tone_note)) || (len == 0))
 		return -EIO;
+
 	if (!check((tone_note *)buffer))
 		return -EIO;
 
@@ -479,6 +487,7 @@ ToneAlarm::write(file *filp, const char *buffer, size_t len)
 		debug("starting user pattern");
 		next();
 	}
+
 	irqrestore(flags);
 
 	return len;
@@ -511,18 +520,22 @@ ToneAlarm::next(void)
 	/* find the note to play */
 	if (_current_pattern == _pattern_user) {
 		np = &_user_pattern[_next_note];
+
 	} else {
 		np = &_patterns[_current_pattern - 1][_next_note];
 	}
 
 	/* work out which note is next */
 	_next_note++;
+
 	if (_next_note >= _note_max) {
 		/* hit the end of the pattern, stop */
 		_current_pattern = _pattern_none;
+
 	} else if (np[1].duration == DURATION_END) {
 		/* hit the end of the pattern, stop */
 		_current_pattern = _pattern_none;
+
 	} else if (np[1].duration == DURATION_REPEAT) {
 		/* next note is a repeat, rewind in preparation */
 		_next_note = 0;
@@ -534,11 +547,11 @@ ToneAlarm::next(void)
 		/* set reload based on the pitch */
 		rARR = _notes[np->pitch];
 
-	        /* force an update, reloads the counter and all registers */
-	        rEGR = GTIM_EGR_UG;
+		/* force an update, reloads the counter and all registers */
+		rEGR = GTIM_EGR_UG;
 
-	        /* enable the output */
-	        rCCER |= TONE_CCER;
+		/* enable the output */
+		rCCER |= TONE_CCER;
 	}
 
 	/* arrange a callback when the note/rest is done */
@@ -554,6 +567,7 @@ ToneAlarm::check(tone_note *pattern)
 		if ((i == 0) &&
 		    ((pattern[i].duration == DURATION_END) || (pattern[i].duration == DURATION_REPEAT)))
 			return false;
+
 		if (pattern[i].duration == DURATION_END)
 			break;
 
@@ -561,6 +575,7 @@ ToneAlarm::check(tone_note *pattern)
 		if (pattern[i].pitch >= _note_max)
 			return false;
 	}
+
 	return true;
 }
 
@@ -592,13 +607,16 @@ play_pattern(unsigned pattern)
 	int	fd, ret;
 
 	fd = open("/dev/tone_alarm", 0);
+
 	if (fd < 0)
 		err(1, "/dev/tone_alarm");
 
 	warnx("playing pattern %u", pattern);
 	ret = ioctl(fd, TONE_SET_ALARM, pattern);
+
 	if (ret != 0)
 		err(1, "TONE_SET_ALARM");
+
 	exit(0);
 }
 
@@ -615,6 +633,7 @@ tone_alarm_main(int argc, char *argv[])
 
 		if (g_dev == nullptr)
 			errx(1, "couldn't allocate the ToneAlarm driver");
+
 		if (g_dev->init() != OK) {
 			delete g_dev;
 			errx(1, "ToneAlarm init failed");
@@ -623,8 +642,10 @@ tone_alarm_main(int argc, char *argv[])
 
 	if ((argc > 1) && !strcmp(argv[1], "start"))
 		play_pattern(1);
+
 	if ((argc > 1) && !strcmp(argv[1], "stop"))
 		play_pattern(0);
+
 	if ((pattern = strtol(argv[1], nullptr, 10)) != 0)
 		play_pattern(pattern);