diff --git a/tfrog-motordriver/communication.c b/tfrog-motordriver/communication.c
index dc6f191..69d6617 100644
--- a/tfrog-motordriver/communication.c
+++ b/tfrog-motordriver/communication.c
@@ -424,7 +424,7 @@ int32_t data_send485(int16_t* cnt, int16_t* pwm, char* en, int16_t* analog, uint
   buf_len = add_crc_485(buf, buf_len);
   send_buf_pos485 += buf_len;
 
-  //printf("send485\n\r");
+  // printf("send485\n\r");
   if (rs485_timeout_wait(saved_param.id485 * 4 + 4, 32))
   {
     flush485();
@@ -511,7 +511,7 @@ int32_t int_send485to(const char from, const char to, const char param, const ch
   buf_len = add_crc_485(buf, buf_len);
   send_buf_pos485 += buf_len;
 
-  //printf("send485\n\r");
+  // printf("send485\n\r");
   if (rs485_timeout_wait(saved_param.id485 * 4 + 4, 32))
   {
     flush485();
@@ -749,7 +749,7 @@ static inline int32_t data_analyze_(
         {
           state = STATE_IDLE;
           receive_period = 1;
-          //printf( "not for me\n\r" );
+          // printf( "not for me\n\r" );
         }
         else if (verify_crc_485(line_full, len + 3))
         {
@@ -786,7 +786,7 @@ static inline int32_t data_analyze_(
 
             command_analyze(rawdata, data_len);
             driver_state.ifmode = fromto;
-            //printf("for me\n\r");
+            // printf("for me\n\r");
           }
           else if (from == -1)
           {
diff --git a/tfrog-motordriver/communication.h b/tfrog-motordriver/communication.h
index 73e10d9..6ef6b05 100644
--- a/tfrog-motordriver/communication.h
+++ b/tfrog-motordriver/communication.h
@@ -117,8 +117,8 @@ typedef enum
 } YPSpur_loco_interrupt;
 
 #define COMMUNICATION_START_BYTE 0x09
-#define COMMUNICATION_INT_BYTE 0x07
-#define COMMUNICATION_END_BYTE 0x0a
+#define COMMUNICATION_INT_BYTE   0x07
+#define COMMUNICATION_END_BYTE   0x0a
 
 #define COMMUNICATION_ID_BROADCAST 0x3f
 
diff --git a/tfrog-motordriver/controlPWM.c b/tfrog-motordriver/controlPWM.c
index 22442ee..3292ec4 100644
--- a/tfrog-motordriver/controlPWM.c
+++ b/tfrog-motordriver/controlPWM.c
@@ -430,11 +430,11 @@ void FIQ_PWMPeriod()
           (hall[i] & 0x07) == 0 ||
           halldiff == 3 || halldiff >= 5)
       {
-        //if( (hall[i] & 0x07) == ( HALL_U | HALL_V | HALL_W ) ) printf( "ENC error: 111\n\r" );
-        //if( (hall[i] & 0x07) == 0 ) printf( "ENC error: 000\n\r" );
-        //if( halldiff == 3 || halldiff >= 5 ) printf( "ENC error: %x->%x\n\r", _hall[i], hall[i] );
-        // ホール素子信号が全相1、全相0のとき
-        // ホース素子信号が2ビット以上変化したときはエラー
+        // if( (hall[i] & 0x07) == ( HALL_U | HALL_V | HALL_W ) ) printf( "ENC error: 111\n\r" );
+        // if( (hall[i] & 0x07) == 0 ) printf( "ENC error: 000\n\r" );
+        // if( halldiff == 3 || halldiff >= 5 ) printf( "ENC error: %x->%x\n\r", _hall[i], hall[i] );
+        //  ホール素子信号が全相1、全相0のとき
+        //  ホース素子信号が2ビット以上変化したときはエラー
 
         // Skip next one error to avoid counting another edge of this error.
         if (driver_state.error.hall[i] < 12)
diff --git a/tfrog-motordriver/crc16.h b/tfrog-motordriver/crc16.h
index 04cf186..a82a1e8 100644
--- a/tfrog-motordriver/crc16.h
+++ b/tfrog-motordriver/crc16.h
@@ -22,38 +22,37 @@
 
 static const uint16_t crc16_tb[256] =
     {
-      0x0000, 0xc0c1, 0xc181, 0x0140, 0xc301, 0x03c0, 0x0280, 0xc241,
-      0xc601, 0x06c0, 0x0780, 0xc741, 0x0500, 0xc5c1, 0xc481, 0x0440,
-      0xcc01, 0x0cc0, 0x0d80, 0xcd41, 0x0f00, 0xcfc1, 0xce81, 0x0e40,
-      0x0a00, 0xcac1, 0xcb81, 0x0b40, 0xc901, 0x09c0, 0x0880, 0xc841,
-      0xd801, 0x18c0, 0x1980, 0xd941, 0x1b00, 0xdbc1, 0xda81, 0x1a40,
-      0x1e00, 0xdec1, 0xdf81, 0x1f40, 0xdd01, 0x1dc0, 0x1c80, 0xdc41,
-      0x1400, 0xd4c1, 0xd581, 0x1540, 0xd701, 0x17c0, 0x1680, 0xd641,
-      0xd201, 0x12c0, 0x1380, 0xd341, 0x1100, 0xd1c1, 0xd081, 0x1040,
-      0xf001, 0x30c0, 0x3180, 0xf141, 0x3300, 0xf3c1, 0xf281, 0x3240,
-      0x3600, 0xf6c1, 0xf781, 0x3740, 0xf501, 0x35c0, 0x3480, 0xf441,
-      0x3c00, 0xfcc1, 0xfd81, 0x3d40, 0xff01, 0x3fc0, 0x3e80, 0xfe41,
-      0xfa01, 0x3ac0, 0x3b80, 0xfb41, 0x3900, 0xf9c1, 0xf881, 0x3840,
-      0x2800, 0xe8c1, 0xe981, 0x2940, 0xeb01, 0x2bc0, 0x2a80, 0xea41,
-      0xee01, 0x2ec0, 0x2f80, 0xef41, 0x2d00, 0xedc1, 0xec81, 0x2c40,
-      0xe401, 0x24c0, 0x2580, 0xe541, 0x2700, 0xe7c1, 0xe681, 0x2640,
-      0x2200, 0xe2c1, 0xe381, 0x2340, 0xe101, 0x21c0, 0x2080, 0xe041,
-      0xa001, 0x60c0, 0x6180, 0xa141, 0x6300, 0xa3c1, 0xa281, 0x6240,
-      0x6600, 0xa6c1, 0xa781, 0x6740, 0xa501, 0x65c0, 0x6480, 0xa441,
-      0x6c00, 0xacc1, 0xad81, 0x6d40, 0xaf01, 0x6fc0, 0x6e80, 0xae41,
-      0xaa01, 0x6ac0, 0x6b80, 0xab41, 0x6900, 0xa9c1, 0xa881, 0x6840,
-      0x7800, 0xb8c1, 0xb981, 0x7940, 0xbb01, 0x7bc0, 0x7a80, 0xba41,
-      0xbe01, 0x7ec0, 0x7f80, 0xbf41, 0x7d00, 0xbdc1, 0xbc81, 0x7c40,
-      0xb401, 0x74c0, 0x7580, 0xb541, 0x7700, 0xb7c1, 0xb681, 0x7640,
-      0x7200, 0xb2c1, 0xb381, 0x7340, 0xb101, 0x71c0, 0x7080, 0xb041,
-      0x5000, 0x90c1, 0x9181, 0x5140, 0x9301, 0x53c0, 0x5280, 0x9241,
-      0x9601, 0x56c0, 0x5780, 0x9741, 0x5500, 0x95c1, 0x9481, 0x5440,
-      0x9c01, 0x5cc0, 0x5d80, 0x9d41, 0x5f00, 0x9fc1, 0x9e81, 0x5e40,
-      0x5a00, 0x9ac1, 0x9b81, 0x5b40, 0x9901, 0x59c0, 0x5880, 0x9841,
-      0x8801, 0x48c0, 0x4980, 0x8941, 0x4b00, 0x8bc1, 0x8a81, 0x4a40,
-      0x4e00, 0x8ec1, 0x8f81, 0x4f40, 0x8d01, 0x4dc0, 0x4c80, 0x8c41,
-      0x4400, 0x84c1, 0x8581, 0x4540, 0x8701, 0x47c0, 0x4680, 0x8641,
-      0x8201, 0x42c0, 0x4380, 0x8341, 0x4100, 0x81c1, 0x8081, 0x4040
-    };
+        0x0000, 0xc0c1, 0xc181, 0x0140, 0xc301, 0x03c0, 0x0280, 0xc241,
+        0xc601, 0x06c0, 0x0780, 0xc741, 0x0500, 0xc5c1, 0xc481, 0x0440,
+        0xcc01, 0x0cc0, 0x0d80, 0xcd41, 0x0f00, 0xcfc1, 0xce81, 0x0e40,
+        0x0a00, 0xcac1, 0xcb81, 0x0b40, 0xc901, 0x09c0, 0x0880, 0xc841,
+        0xd801, 0x18c0, 0x1980, 0xd941, 0x1b00, 0xdbc1, 0xda81, 0x1a40,
+        0x1e00, 0xdec1, 0xdf81, 0x1f40, 0xdd01, 0x1dc0, 0x1c80, 0xdc41,
+        0x1400, 0xd4c1, 0xd581, 0x1540, 0xd701, 0x17c0, 0x1680, 0xd641,
+        0xd201, 0x12c0, 0x1380, 0xd341, 0x1100, 0xd1c1, 0xd081, 0x1040,
+        0xf001, 0x30c0, 0x3180, 0xf141, 0x3300, 0xf3c1, 0xf281, 0x3240,
+        0x3600, 0xf6c1, 0xf781, 0x3740, 0xf501, 0x35c0, 0x3480, 0xf441,
+        0x3c00, 0xfcc1, 0xfd81, 0x3d40, 0xff01, 0x3fc0, 0x3e80, 0xfe41,
+        0xfa01, 0x3ac0, 0x3b80, 0xfb41, 0x3900, 0xf9c1, 0xf881, 0x3840,
+        0x2800, 0xe8c1, 0xe981, 0x2940, 0xeb01, 0x2bc0, 0x2a80, 0xea41,
+        0xee01, 0x2ec0, 0x2f80, 0xef41, 0x2d00, 0xedc1, 0xec81, 0x2c40,
+        0xe401, 0x24c0, 0x2580, 0xe541, 0x2700, 0xe7c1, 0xe681, 0x2640,
+        0x2200, 0xe2c1, 0xe381, 0x2340, 0xe101, 0x21c0, 0x2080, 0xe041,
+        0xa001, 0x60c0, 0x6180, 0xa141, 0x6300, 0xa3c1, 0xa281, 0x6240,
+        0x6600, 0xa6c1, 0xa781, 0x6740, 0xa501, 0x65c0, 0x6480, 0xa441,
+        0x6c00, 0xacc1, 0xad81, 0x6d40, 0xaf01, 0x6fc0, 0x6e80, 0xae41,
+        0xaa01, 0x6ac0, 0x6b80, 0xab41, 0x6900, 0xa9c1, 0xa881, 0x6840,
+        0x7800, 0xb8c1, 0xb981, 0x7940, 0xbb01, 0x7bc0, 0x7a80, 0xba41,
+        0xbe01, 0x7ec0, 0x7f80, 0xbf41, 0x7d00, 0xbdc1, 0xbc81, 0x7c40,
+        0xb401, 0x74c0, 0x7580, 0xb541, 0x7700, 0xb7c1, 0xb681, 0x7640,
+        0x7200, 0xb2c1, 0xb381, 0x7340, 0xb101, 0x71c0, 0x7080, 0xb041,
+        0x5000, 0x90c1, 0x9181, 0x5140, 0x9301, 0x53c0, 0x5280, 0x9241,
+        0x9601, 0x56c0, 0x5780, 0x9741, 0x5500, 0x95c1, 0x9481, 0x5440,
+        0x9c01, 0x5cc0, 0x5d80, 0x9d41, 0x5f00, 0x9fc1, 0x9e81, 0x5e40,
+        0x5a00, 0x9ac1, 0x9b81, 0x5b40, 0x9901, 0x59c0, 0x5880, 0x9841,
+        0x8801, 0x48c0, 0x4980, 0x8941, 0x4b00, 0x8bc1, 0x8a81, 0x4a40,
+        0x4e00, 0x8ec1, 0x8f81, 0x4f40, 0x8d01, 0x4dc0, 0x4c80, 0x8c41,
+        0x4400, 0x84c1, 0x8581, 0x4540, 0x8701, 0x47c0, 0x4680, 0x8641,
+        0x8201, 0x42c0, 0x4380, 0x8341, 0x4100, 0x81c1, 0x8081, 0x4040};
 
 #endif
diff --git a/tfrog-motordriver/fixpawd.c b/tfrog-motordriver/fixpawd.c
index fc13477..a98b56f 100644
--- a/tfrog-motordriver/fixpawd.c
+++ b/tfrog-motordriver/fixpawd.c
@@ -16,8 +16,8 @@
  */
 
 /**
-	@file fixp.c
-	@brief Fixed point value operation
+  @file fixp.c
+  @brief Fixed point value operation
  */
 
 #include <stdint.h>
@@ -25,10 +25,10 @@
 #include "fixpawd.h"
 
 /**
-	@brief Multiple fixed point values (fast var)
-	@param a [in] Input value A
-	@param b [in] Input value B
-	@return A*B
+  @brief Multiple fixed point values (fast var)
+  @param a [in] Input value A
+  @param b [in] Input value B
+  @return A*B
  */
 fixp4 fp4mulf(fixp4 a, fixp4 b)
 {
@@ -36,10 +36,10 @@ fixp4 fp4mulf(fixp4 a, fixp4 b)
 }
 
 /**
-	@brief Multiple fixed point values
-	@param a [in] Input value A
-	@param b [in] Input value B
-	@return A*B
+  @brief Multiple fixed point values
+  @param a [in] Input value A
+  @param b [in] Input value B
+  @return A*B
  */
 fixp4 fp4mul(fixp4 a, fixp4 b)
 {
@@ -56,10 +56,10 @@ fixp4 fp4mul(fixp4 a, fixp4 b)
 }
 
 /**
-	@brief Divide Fixed point value
-	@param a [in] Input value A
-	@param b [in] Input value B
-	@return A/B
+  @brief Divide Fixed point value
+  @param a [in] Input value A
+  @param b [in] Input value B
+  @return A/B
  */
 fixp4 fp4div(fixp4 a, fixp4 b)
 {
@@ -67,9 +67,9 @@ fixp4 fp4div(fixp4 a, fixp4 b)
 }
 
 /**
-	@brief Convert double value to fixed point value
-	@param a [in] Input value A
-	@return A expressed in fixed point
+  @brief Convert double value to fixed point value
+  @param a [in] Input value A
+  @return A expressed in fixed point
  */
 fixp4 double2fp4(double a)
 {
@@ -77,9 +77,9 @@ fixp4 double2fp4(double a)
 }
 
 /**
-	@brief Convert int32_t value to fixed point value
-	@param a [in] Input value A
-	@return A expressed in fixed point
+  @brief Convert int32_t value to fixed point value
+  @param a [in] Input value A
+  @return A expressed in fixed point
  */
 fixp4 int2fp4(int32_t a)
 {
@@ -87,9 +87,9 @@ fixp4 int2fp4(int32_t a)
 }
 
 /**
-	@brief Convert fixed point value to double value
-	@param a [in] Input value A
-	@return A expressed in double
+  @brief Convert fixed point value to double value
+  @param a [in] Input value A
+  @return A expressed in double
  */
 double fp42double(fixp4 a)
 {
diff --git a/tfrog-motordriver/fixpawd.h b/tfrog-motordriver/fixpawd.h
index d38907a..a6b2ee1 100644
--- a/tfrog-motordriver/fixpawd.h
+++ b/tfrog-motordriver/fixpawd.h
@@ -16,8 +16,8 @@
  */
 
 /**
-	@file fixp.h
-	@brief Fixed point value operation
+  @file fixp.h
+  @brief Fixed point value operation
  */
 
 #ifndef __FIX_POINT_AWD__
@@ -34,12 +34,12 @@ typedef int32_t fixp4;
 #endif
 
 #define FP4_POINTBIT2 (FP4_POINTBIT * 2)
-#define FP4_DIV (1.0 / (double)(1 << FP4_POINTBIT))
-#define FP4_MUL ((double)(1 << FP4_POINTBIT))
-#define FP4_ONE (1 << FP4_POINTBIT)
+#define FP4_DIV       (1.0 / (double)(1 << FP4_POINTBIT))
+#define FP4_MUL       ((double)(1 << FP4_POINTBIT))
+#define FP4_ONE       (1 << FP4_POINTBIT)
 
 #define DOUBLE2FP4(a) (fixp4)(a * FP4_MUL + 0.5)
-#define INT2FP4(a) (fixp4)(a << FP4_POINTBIT)
+#define INT2FP4(a)    (fixp4)(a << FP4_POINTBIT)
 
 fixp4 fp4mul(fixp4 a, fixp4 b);
 fixp4 fp4mulf(fixp4 a, fixp4 b);
diff --git a/tfrog-motordriver/fixpawd_math.c b/tfrog-motordriver/fixpawd_math.c
index 8520bc1..4712df6 100644
--- a/tfrog-motordriver/fixpawd_math.c
+++ b/tfrog-motordriver/fixpawd_math.c
@@ -16,8 +16,8 @@
  */
 
 /**
-	@file fixpmath.c
-	@brief Fixed point value mathmatical functions
+  @file fixpmath.c
+  @brief Fixed point value mathmatical functions
  */
 
 #include <stdint.h>
@@ -32,9 +32,9 @@ fixp4 abs(fixp4 x)
 }
 
 /**
-	@brief Calculate sin function (fast ver, 0 <= x <= PI/4)
-	@param x [in] Input value
-	@return sin(x)
+  @brief Calculate sin function (fast ver, 0 <= x <= PI/4)
+  @param x [in] Input value
+  @return sin(x)
  */
 fixp4 fp4sinf(fixp4 x)
 {
@@ -56,9 +56,9 @@ fixp4 fp4sinf(fixp4 x)
 }
 
 /**
-	@brief Calculate sin function
-	@param x [in] Input value
-	@return sin(x)
+  @brief Calculate sin function
+  @param x [in] Input value
+  @return sin(x)
  */
 fixp4 fp4sin(fixp4 x)
 {
@@ -96,9 +96,9 @@ fixp4 fp4sin(fixp4 x)
 }
 
 /**
-	@brief Calculate cos function (fast ver, 0 <= x <= PI/4)
-	@param x [in] Input value
-	@return cos(x)
+  @brief Calculate cos function (fast ver, 0 <= x <= PI/4)
+  @param x [in] Input value
+  @return cos(x)
  */
 fixp4 fp4cosf(fixp4 x)
 {
@@ -118,9 +118,9 @@ fixp4 fp4cosf(fixp4 x)
 }
 
 /**
-	@brief Calculate cos function
-	@param x [in] Input value
-	@return cos(x)
+  @brief Calculate cos function
+  @param x [in] Input value
+  @return cos(x)
  */
 fixp4 fp4cos(fixp4 x)
 {
@@ -162,9 +162,9 @@ fixp4 fp4cos(fixp4 x)
 }
 
 /**
-	@brief Calculate arctan [5 digit .17bit]
-	@param x [in] Input value
-	@return atan(x)
+  @brief Calculate arctan [5 digit .17bit]
+  @param x [in] Input value
+  @return atan(x)
  */
 fixp4 fp4atan(fixp4 x)
 {
@@ -234,10 +234,10 @@ fixp4 fp4atan(fixp4 x)
 }
 
 /**
-	@brief Calculate arctan with quadrant info [5 digit .17bit]
-	@param y [in] Input value y
-	@param x [in] Input value x
-	@return atan2(y/x)
+  @brief Calculate arctan with quadrant info [5 digit .17bit]
+  @param y [in] Input value y
+  @param x [in] Input value x
+  @return atan2(y/x)
  */
 fixp4 fp4atan2(fixp4 y, fixp4 x)
 {
@@ -277,9 +277,9 @@ fixp4 fp4atan2(fixp4 y, fixp4 x)
 }
 
 /**
-	@brief Calculate sqrt function
-	@param x [in] Input value
-	@return sqrt(x)
+  @brief Calculate sqrt function
+  @param x [in] Input value
+  @return sqrt(x)
  */
 fixp4 fp4sqrt(fixp4 x)
 {
@@ -289,19 +289,19 @@ fixp4 fp4sqrt(fixp4 x)
   res = (fp4div(x, res) + res) >> 1;
 
   return res;
-  /* 
-	 * // Slow: fixp4 s, res; long long x1;
-	 * 
-	 * x1 = ( (long long) x ) << FP4_POINTBIT; s = 1 << FP4_POINTBIT; res = x; while( s < res ){ s = s << 1; res = res
-	 * >> 1; } do{ res = s; s = ( x1 / s + s ) >> 1; }while( s < res );
-	 * 
-	 * return s; */
+  /*
+   * // Slow: fixp4 s, res; long long x1;
+   *
+   * x1 = ( (long long) x ) << FP4_POINTBIT; s = 1 << FP4_POINTBIT; res = x; while( s < res ){ s = s << 1; res = res
+   * >> 1; } do{ res = s; s = ( x1 / s + s ) >> 1; }while( s < res );
+   *
+   * return s; */
 }
 
 /**
-	@brief Calculate sqrt function (fast ver)
-	@param x [in] Input value
-	@return sqrt(x)
+  @brief Calculate sqrt function (fast ver)
+  @param x [in] Input value
+  @return sqrt(x)
  */
 fixp4 fp4sqrtf(fixp4 x)
 {
@@ -309,9 +309,9 @@ fixp4 fp4sqrtf(fixp4 x)
 }
 
 /**
-	@brief Calculate 1/sqrt function
-	@param x [in] Input value
-	@return 1/sqrt(x)
+  @brief Calculate 1/sqrt function
+  @param x [in] Input value
+  @return 1/sqrt(x)
  */
 fixp4 fp4sqrtinv(fixp4 x)
 {
@@ -383,9 +383,9 @@ fixp4 fp4sqrtinv(fixp4 x)
     res = fp4_sqrt[32 - FP4_POINTBIT];
   else
     return 0;
-  /* 
-	 * // 'if' lines mean: for( i = 30; i >= 0; i -- ){ if( x & ( 1 << i ) ){ res = fp4_sqrt[ 32 - FP4_POINTBIT + i ];
-	 * break; } } */
+  /*
+   * // 'if' lines mean: for( i = 30; i >= 0; i -- ){ if( x & ( 1 << i ) ){ res = fp4_sqrt[ 32 - FP4_POINTBIT + i ];
+   * break; } } */
   do
   {
     h = FP4_ONE - (((((long long)x * res) >> FP4_POINTBIT) * res) >> FP4_POINTBIT);
@@ -407,9 +407,9 @@ fixp4 fp4sqrtinv(fixp4 x)
 }
 
 /**
-	@brief Calculate log2 function [4 digit .17bit]
-	@param x [in] Input value
-	@return log2(x)
+  @brief Calculate log2 function [4 digit .17bit]
+  @param x [in] Input value
+  @return log2(x)
  */
 fixp4 fp4log2(fixp4 x)
 {
@@ -447,9 +447,9 @@ fixp4 fp4log2(fixp4 x)
 }
 
 /**
-	@brief Calculate log2 function (fast ver) [2 digit .17bit]
-	@param x [in] Input value
-	@return log2(x)
+  @brief Calculate log2 function (fast ver) [2 digit .17bit]
+  @param x [in] Input value
+  @return log2(x)
  */
 fixp4 fp4log2f(fixp4 x)
 {
@@ -487,9 +487,9 @@ fixp4 fp4log2f(fixp4 x)
 }
 
 /**
-	@brief Calculate ln function
-	@param x [in] Input value
-	@return ln(x)
+  @brief Calculate ln function
+  @param x [in] Input value
+  @return ln(x)
  */
 fixp4 fp4ln(fixp4 x)
 {
@@ -497,9 +497,9 @@ fixp4 fp4ln(fixp4 x)
 }
 
 /**
-	@brief Calculate log function
-	@param x [in] Input value
-	@return log(x)
+  @brief Calculate log function
+  @param x [in] Input value
+  @return log(x)
  */
 fixp4 fp4log(fixp4 x)
 {
@@ -507,10 +507,10 @@ fixp4 fp4log(fixp4 x)
 }
 
 /**
-	@brief Calculate logn function
-	@param x [in] Input value
-	@param n [in] Base value
-	@return log(x)
+  @brief Calculate logn function
+  @param x [in] Input value
+  @param n [in] Base value
+  @return log(x)
  */
 fixp4 fp4logn(fixp4 x, fixp4 n)
 {
@@ -518,9 +518,9 @@ fixp4 fp4logn(fixp4 x, fixp4 n)
 }
 
 /**
-	@brief Calculate ln function (fast ver)
-	@param x [in] Input value
-	@return ln(x)
+  @brief Calculate ln function (fast ver)
+  @param x [in] Input value
+  @return ln(x)
  */
 fixp4 fp4lnf(fixp4 x)
 {
@@ -528,9 +528,9 @@ fixp4 fp4lnf(fixp4 x)
 }
 
 /**
-	@brief Calculate log function (fast ver)
-	@param x [in] Input value
-	@return log(x)
+  @brief Calculate log function (fast ver)
+  @param x [in] Input value
+  @return log(x)
  */
 fixp4 fp4logf(fixp4 x)
 {
@@ -538,10 +538,10 @@ fixp4 fp4logf(fixp4 x)
 }
 
 /**
-	@brief Calculate logn function (fast ver)
-	@param x [in] Input value
-	@param n [in] Base value
-	@return log(x)
+  @brief Calculate logn function (fast ver)
+  @param x [in] Input value
+  @param n [in] Base value
+  @return log(x)
  */
 fixp4 fp4lognf(fixp4 x, fixp4 n)
 {
@@ -549,9 +549,9 @@ fixp4 fp4lognf(fixp4 x, fixp4 n)
 }
 
 /**
-	@brief Calculate exp function
-	@param x [in] Input value
-	@return exp(x)
+  @brief Calculate exp function
+  @param x [in] Input value
+  @return exp(x)
  */
 fixp4 fp4exp(fixp4 x)
 {
@@ -585,8 +585,8 @@ fixp4 fp4exp(fixp4 x)
   if (x & (1 << (33 - 31 + FP4_POINTBIT + 2)))
     res = fp4mul(res, fp4_exp[35]);
 
-  /* 
-	 * // 'if' lines mean: for( i = 33; i < 36; i ++ ){ if( x & mask ) res = fp4mul( res, fp4_exp[i] ); mask <<= 1; } */
+  /*
+   * // 'if' lines mean: for( i = 33; i < 36; i ++ ){ if( x & mask ) res = fp4mul( res, fp4_exp[i] ); mask <<= 1; } */
 
   if (inv)
     return fp4div(FP4_ONE, res);
diff --git a/tfrog-motordriver/fixpawd_math.h b/tfrog-motordriver/fixpawd_math.h
index 670f4b2..9798fda 100644
--- a/tfrog-motordriver/fixpawd_math.h
+++ b/tfrog-motordriver/fixpawd_math.h
@@ -16,8 +16,8 @@
  */
 
 /**
-	@file fixpawd_math.c
-	@brief Fixed point value mathmatical functions
+  @file fixpawd_math.c
+  @brief Fixed point value mathmatical functions
  */
 
 #ifndef __FIX_POINT_AWD_MATH__
@@ -25,13 +25,13 @@
 
 #include "fixpawd.h"
 
-#define FP4_PI DOUBLE2FP4(3.1415926535897932384626433832795)
-#define FP4_PI2 DOUBLE2FP4(3.1415926535897932384626433832795 * 2.0)
+#define FP4_PI    DOUBLE2FP4(3.1415926535897932384626433832795)
+#define FP4_PI2   DOUBLE2FP4(3.1415926535897932384626433832795 * 2.0)
 #define FP4_PI3_4 DOUBLE2FP4(3.1415926535897932384626433832795 * 3.0 / 4.0)
-#define FP4_PI_2 DOUBLE2FP4(3.1415926535897932384626433832795 / 2.0)
-#define FP4_PI_4 DOUBLE2FP4(3.1415926535897932384626433832795 / 4.0)
-#define FP4_PI_6 DOUBLE2FP4(3.1415926535897932384626433832795 / 6.0)
-#define FP4_E DOUBLE2FP4(2.718281828459045235360287471352)
+#define FP4_PI_2  DOUBLE2FP4(3.1415926535897932384626433832795 / 2.0)
+#define FP4_PI_4  DOUBLE2FP4(3.1415926535897932384626433832795 / 4.0)
+#define FP4_PI_6  DOUBLE2FP4(3.1415926535897932384626433832795 / 6.0)
+#define FP4_E     DOUBLE2FP4(2.718281828459045235360287471352)
 #define FP4_LOG2E DOUBLE2FP4(1.0 / 1.4426950408889634073599246810022)
 #define FP4_LOG2T DOUBLE2FP4(1.0 / 3.3219280948873623478703194294948)
 
diff --git a/tfrog-motordriver/power.h b/tfrog-motordriver/power.h
index 4ebb726..640c4aa 100644
--- a/tfrog-motordriver/power.h
+++ b/tfrog-motordriver/power.h
@@ -23,7 +23,7 @@ void NormalPowerMode(void);
 
 static const Pin pinsLED[] = {PIN_LED_0, PIN_LED_1, PIN_LED_2};
 
-#define LED_on(num) PIO_Clear(&pinsLED[num]);
+#define LED_on(num)  PIO_Clear(&pinsLED[num]);
 #define LED_off(num) PIO_Set(&pinsLED[num]);
 
 #endif