POSIX: Fix formatting

src/platforms/posix/include/crc32.h

@@ -63,7 +63,7 @@ extern "C" {
  ****************************************************************************/
 
 EXTERN uint32_t crc32part(const uint8_t *src, size_t len,
-                          uint32_t crc32val);
+			  uint32_t crc32val);
 
 /****************************************************************************
  * Name: crc32

src/platforms/posix/include/queue.h

@@ -69,30 +69,26 @@
  * Global Type Declarations
  ************************************************************************/
 
-struct sq_entry_s
-{
-  FAR struct sq_entry_s *flink;
+struct sq_entry_s {
+	FAR struct sq_entry_s *flink;
 };
 typedef struct sq_entry_s sq_entry_t;
 
-struct dq_entry_s
-{
-  FAR struct dq_entry_s *flink;
-  FAR struct dq_entry_s *blink;
+struct dq_entry_s {
+	FAR struct dq_entry_s *flink;
+	FAR struct dq_entry_s *blink;
 };
 typedef struct dq_entry_s dq_entry_t;
 
-struct sq_queue_s
-{
-  FAR sq_entry_t *head;
-  FAR sq_entry_t *tail;
+struct sq_queue_s {
+	FAR sq_entry_t *head;
+	FAR sq_entry_t *tail;
 };
 typedef struct sq_queue_s  sq_queue_t;
 
-struct dq_queue_s
-{
-  FAR dq_entry_t *head;
-  FAR dq_entry_t *tail;
+struct dq_queue_s {
+	FAR dq_entry_t *head;
+	FAR dq_entry_t *tail;
 };
 typedef struct dq_queue_s dq_queue_t;
 
@@ -112,11 +108,11 @@ EXTERN void  dq_addfirst(FAR dq_entry_t *node, dq_queue_t *queue);
 EXTERN void  sq_addlast(FAR sq_entry_t *node, sq_queue_t *queue);
 EXTERN void  dq_addlast(FAR dq_entry_t *node, dq_queue_t *queue);
 EXTERN void  sq_addafter(FAR sq_entry_t *prev, FAR sq_entry_t *node,
-                         sq_queue_t *queue);
+			 sq_queue_t *queue);
 EXTERN void  dq_addafter(FAR dq_entry_t *prev, FAR dq_entry_t *node,
-                         dq_queue_t *queue);
+			 dq_queue_t *queue);
 EXTERN void  dq_addbefore(FAR dq_entry_t *next, FAR dq_entry_t *node,
-                          dq_queue_t *queue);
+			  dq_queue_t *queue);
 
 EXTERN FAR sq_entry_t *sq_remafter(FAR sq_entry_t *node, sq_queue_t *queue);
 EXTERN void            sq_rem(FAR sq_entry_t *node, sq_queue_t *queue);

src/platforms/posix/main.cpp

@@ -96,6 +96,7 @@ static void run_cmd(const vector<string> &appargs, bool exit_on_fail)
 		if (exit_on_fail && retval) {
 			exit(retval);
 		}
+
 		usleep(65000);
 
 	} else if (command.compare("help") == 0) {
@@ -108,6 +109,7 @@ static void run_cmd(const vector<string> &appargs, bool exit_on_fail)
 		cout << "Invalid command: " << command << "\ntype 'help' for a list of commands" << endl;
 
 	}
+
 	print_prompt();
 }
 

src/platforms/posix/px4_layer/drv_hrt.c

@@ -237,6 +237,7 @@ void	hrt_init(void)
 	sq_init(&callout_queue);
 
 	int sem_ret = px4_sem_init(&_hrt_lock, 0, 1);
+
 	if (sem_ret) {
 		PX4_ERR("SEM INIT FAIL: %s", strerror(errno));
 	}

src/platforms/posix/px4_layer/lib_crc32.c

@@ -48,46 +48,45 @@
 #include <crc32.h>
 
 // Needed for Linux
-#define FAR 
+#define FAR
 
 /************************************************************************************************
  * Private Data
  ************************************************************************************************/
- 
-static const uint32_t crc32_tab[] =
-{
-  0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
-  0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
-  0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
-  0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
-  0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
-  0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
-  0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
-  0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
-  0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
-  0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
-  0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
-  0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
-  0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
-  0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
-  0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
-  0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
-  0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
-  0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
-  0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
-  0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
-  0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
-  0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
-  0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
-  0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
-  0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
-  0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
-  0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
-  0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
-  0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
-  0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
-  0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
-  0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
+
+static const uint32_t crc32_tab[] = {
+	0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
+	0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
+	0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
+	0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
+	0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
+	0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
+	0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
+	0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
+	0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
+	0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
+	0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
+	0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
+	0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
+	0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
+	0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
+	0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
+	0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
+	0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
+	0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
+	0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
+	0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
+	0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
+	0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
+	0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
+	0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
+	0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
+	0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
+	0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
+	0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
+	0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
+	0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
+	0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
 };
 
 /************************************************************************************************
@@ -103,13 +102,13 @@ static const uint32_t crc32_tab[] =
 
 uint32_t crc32part(FAR const uint8_t *src, size_t len, uint32_t crc32val)
 {
-  size_t i;
+	size_t i;
+
+	for (i = 0;  i < len;  i++) {
+		crc32val = crc32_tab[(crc32val ^ src[i]) & 0xff] ^ (crc32val >> 8);
+	}
 
-  for (i = 0;  i < len;  i++)
-    {
-      crc32val = crc32_tab[(crc32val ^ src[i]) & 0xff] ^ (crc32val >> 8);
-    }
-  return crc32val;
+	return crc32val;
 }
 
 /************************************************************************************************
@@ -122,5 +121,5 @@ uint32_t crc32part(FAR const uint8_t *src, size_t len, uint32_t crc32val)
 
 uint32_t crc32(FAR const uint8_t *src, size_t len)
 {
-  return crc32part(src, len, 0);
+	return crc32part(src, len, 0);
 }

src/platforms/posix/px4_layer/px4_posix_tasks.cpp

@@ -63,8 +63,7 @@
 
 pthread_t _shell_task_id = 0;
 
-struct task_entry
-{
+struct task_entry {
 	pthread_t pid;
 	std::string name;
 	bool isused;
@@ -73,27 +72,26 @@ struct task_entry
 
 static task_entry taskmap[PX4_MAX_TASKS];
 
-typedef struct 
-{
+typedef struct {
 	px4_main_t entry;
 	int argc;
 	char *argv[];
-	// strings are allocated after the 
+	// strings are allocated after the
 } pthdata_t;
 
-static void *entry_adapter ( void *ptr )
+static void *entry_adapter(void *ptr)
 {
-	pthdata_t *data;            
-	data = (pthdata_t *) ptr;  
+	pthdata_t *data;
+	data = (pthdata_t *) ptr;
 
 	data->entry(data->argc, data->argv);
 	free(ptr);
 	PX4_DEBUG("Before px4_task_exit");
-	px4_task_exit(0); 
+	px4_task_exit(0);
 	PX4_DEBUG("After px4_task_exit");
 
 	return NULL;
-} 
+}
 
 void
 px4_systemreset(bool to_bootloader)
@@ -102,7 +100,8 @@ px4_systemreset(bool to_bootloader)
 	exit(0);
 }
 
-px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry, char * const argv[])
+px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry,
+			      char *const argv[])
 {
 	int rv;
 	int argc = 0;
@@ -110,52 +109,62 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 	unsigned int len = 0;
 	unsigned long offset;
 	unsigned long structsize;
-	char * p = (char *)argv;
+	char *p = (char *)argv;
 
-        pthread_t task;
+	pthread_t task;
 	pthread_attr_t attr;
 	struct sched_param param;
 
 	// Calculate argc
 	while (p != (char *)0) {
 		p = argv[argc];
-		if (p == (char *)0)
+
+		if (p == (char *)0) {
 			break;
+		}
+
 		++argc;
-		len += strlen(p)+1;
+		len += strlen(p) + 1;
 	}
-        structsize = sizeof(pthdata_t)+(argc+1)*sizeof(char *);
+
+	structsize = sizeof(pthdata_t) + (argc + 1) * sizeof(char *);
 	pthdata_t *taskdata;
-    
+
 	// not safe to pass stack data to the thread creation
-	taskdata = (pthdata_t *)malloc(structsize+len);
-	offset = ((unsigned long)taskdata)+structsize;
+	taskdata = (pthdata_t *)malloc(structsize + len);
+	offset = ((unsigned long)taskdata) + structsize;
 
-    	taskdata->entry = entry;
+	taskdata->entry = entry;
 	taskdata->argc = argc;
 
-	for (i=0; i<argc; i++) {
+	for (i = 0; i < argc; i++) {
 		PX4_DEBUG("arg %d %s\n", i, argv[i]);
 		taskdata->argv[i] = (char *)offset;
 		strcpy((char *)offset, argv[i]);
-		offset+=strlen(argv[i])+1;
+		offset += strlen(argv[i]) + 1;
 	}
+
 	// Must add NULL at end of argv
 	taskdata->argv[argc] = (char *)0;
 
 	PX4_DEBUG("starting task %s", name);
 
 	rv = pthread_attr_init(&attr);
+
 	if (rv != 0) {
 		PX4_WARN("px4_task_spawn_cmd: failed to init thread attrs");
 		return (rv < 0) ? rv : -rv;
 	}
+
 	rv = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
+
 	if (rv != 0) {
 		PX4_WARN("px4_task_spawn_cmd: failed to set inherit sched");
 		return (rv < 0) ? rv : -rv;
 	}
+
 	rv = pthread_attr_setschedpolicy(&attr, scheduler);
+
 	if (rv != 0) {
 		PX4_WARN("px4_task_spawn_cmd: failed to set sched policy");
 		return (rv < 0) ? rv : -rv;
@@ -164,28 +173,31 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 	param.sched_priority = priority;
 
 	rv = pthread_attr_setschedparam(&attr, &param);
+
 	if (rv != 0) {
 		PX4_WARN("px4_task_spawn_cmd: failed to set sched param");
 		return (rv < 0) ? rv : -rv;
 	}
 
-        rv = pthread_create (&task, &attr, &entry_adapter, (void *) taskdata);
+	rv = pthread_create(&task, &attr, &entry_adapter, (void *) taskdata);
+
 	if (rv != 0) {
 
 		if (rv == EPERM) {
 			//printf("WARNING: NOT RUNING AS ROOT, UNABLE TO RUN REALTIME THREADS\n");
-        		rv = pthread_create (&task, NULL, &entry_adapter, (void *) taskdata);
+			rv = pthread_create(&task, NULL, &entry_adapter, (void *) taskdata);
+
 			if (rv != 0) {
 				PX4_ERR("px4_task_spawn_cmd: failed to create thread %d %d\n", rv, errno);
 				return (rv < 0) ? rv : -rv;
 			}
-		}
-		else {
+
+		} else {
 			return (rv < 0) ? rv : -rv;
 		}
 	}
 
-	for (i=0; i<PX4_MAX_TASKS; ++i) {
+	for (i = 0; i < PX4_MAX_TASKS; ++i) {
 		if (taskmap[i].isused == false) {
 			taskmap[i].pid = task;
 			taskmap[i].name = name;
@@ -193,10 +205,12 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 			break;
 		}
 	}
-	if (i>=PX4_MAX_TASKS) {
+
+	if (i >= PX4_MAX_TASKS) {
 		return -ENOSPC;
 	}
-        return i;
+
+	return i;
 }
 
 int px4_task_delete(px4_task_t id)
@@ -205,15 +219,18 @@ int px4_task_delete(px4_task_t id)
 	pthread_t pid;
 	PX4_DEBUG("Called px4_task_delete");
 
-	if (id < PX4_MAX_TASKS && taskmap[id].isused)
+	if (id < PX4_MAX_TASKS && taskmap[id].isused) {
 		pid = taskmap[id].pid;
-	else
+
+	} else {
 		return -EINVAL;
+	}
 
 	// If current thread then exit, otherwise cancel
-        if (pthread_self() == pid) {
+	if (pthread_self() == pid) {
 		taskmap[id].isused = false;
 		pthread_exit(0);
+
 	} else {
 		rv = pthread_cancel(pid);
 	}
@@ -225,20 +242,21 @@ int px4_task_delete(px4_task_t id)
 
 void px4_task_exit(int ret)
 {
-	int i; 
+	int i;
 	pthread_t pid = pthread_self();
 
 	// Get pthread ID from the opaque ID
-	for (i=0; i<PX4_MAX_TASKS; ++i) {
+	for (i = 0; i < PX4_MAX_TASKS; ++i) {
 		if (taskmap[i].pid == pid) {
 			taskmap[i].isused = false;
 			break;
 		}
 	}
-	if (i>=PX4_MAX_TASKS)  {
+
+	if (i >= PX4_MAX_TASKS)  {
 		PX4_ERR("px4_task_exit: self task not found!");
-	}
-	else {
+
+	} else {
 		PX4_DEBUG("px4_task_exit: %s", taskmap[i].name.c_str());
 	}
 
@@ -251,10 +269,12 @@ int px4_task_kill(px4_task_t id, int sig)
 	pthread_t pid;
 	PX4_DEBUG("Called px4_task_kill %d", sig);
 
-	if (id < PX4_MAX_TASKS && taskmap[id].isused && taskmap[id].pid != 0)
+	if (id < PX4_MAX_TASKS && taskmap[id].isused && taskmap[id].pid != 0) {
 		pid = taskmap[id].pid;
-	else
+
+	} else {
 		return -EINVAL;
+	}
 
 	// If current thread then exit, otherwise cancel
 	rv = pthread_kill(pid, sig);
@@ -268,27 +288,30 @@ void px4_show_tasks()
 	int count = 0;
 
 	PX4_INFO("Active Tasks:");
-	for (idx=0; idx < PX4_MAX_TASKS; idx++)
-	{
+
+	for (idx = 0; idx < PX4_MAX_TASKS; idx++) {
 		if (taskmap[idx].isused) {
 			PX4_INFO("   %-10s %lu", taskmap[idx].name.c_str(), (unsigned long)taskmap[idx].pid);
 			count++;
 		}
 	}
-	if (count == 0)
+
+	if (count == 0) {
 		PX4_INFO("   No running tasks");
+	}
 
 }
 
 bool px4_task_is_running(const char *taskname)
 {
 	int idx;
-	for (idx=0; idx < PX4_MAX_TASKS; idx++)
-	{
+
+	for (idx = 0; idx < PX4_MAX_TASKS; idx++) {
 		if (taskmap[idx].isused && (strcmp(taskmap[idx].name.c_str(), taskname) == 0)) {
 			return true;
 		}
 	}
+
 	return false;
 }
 __BEGIN_DECLS
@@ -301,14 +324,14 @@ unsigned long px4_getpid()
 const char *getprogname();
 const char *getprogname()
 {
-        pthread_t pid = pthread_self();
-	for (int i=0; i<PX4_MAX_TASKS; i++)
-	{
-		if (taskmap[i].isused && taskmap[i].pid == pid)
-		{
+	pthread_t pid = pthread_self();
+
+	for (int i = 0; i < PX4_MAX_TASKS; i++) {
+		if (taskmap[i].isused && taskmap[i].pid == pid) {
 			return taskmap[i].name.c_str();
 		}
 	}
+
 	return "Unknown App";
 }
 __END_DECLS

src/platforms/posix/px4_layer/px4_sem.cpp

@@ -65,9 +65,11 @@ int px4_sem_wait(px4_sem_t *s)
 {
 	pthread_mutex_lock(&(s->lock));
 	s->value--;
-	if(s->value < 0) {
-	        pthread_cond_wait(&(s->wait), &(s->lock));
+
+	if (s->value < 0) {
+		pthread_cond_wait(&(s->wait), &(s->lock));
 	}
+
 	pthread_mutex_unlock(&(s->lock));
 
 	return 0;
@@ -77,9 +79,11 @@ int px4_sem_post(px4_sem_t *s)
 {
 	pthread_mutex_lock(&(s->lock));
 	s->value++;
-	if(s->value <= 0) {
+
+	if (s->value <= 0) {
 		pthread_cond_signal(&(s->wait));
 	}
+
 	pthread_mutex_unlock(&(s->lock));
 
 	return 0;

src/platforms/posix/work_queue/hrt_thread.c

@@ -274,7 +274,7 @@ void hrt_work_queue_init(void)
 					    work_hrtthread,
 					    (char *const *)NULL);
 
-	
+
 #ifdef __PX4_QURT
 	signal(SIGALRM, _sighandler);
 #else