diff --git a/libuavcan/include/uavcan/data_type.hpp b/libuavcan/include/uavcan/data_type.hpp
index 134be45aa9..a749347932 100644
--- a/libuavcan/include/uavcan/data_type.hpp
+++ b/libuavcan/include/uavcan/data_type.hpp
@@ -34,7 +34,7 @@ public:
     DataTypeID() : value_(0xFFFF) { }
 
     DataTypeID(uint16_t id)
-    : value_(id)
+        : value_(id)
     {
         assert(isValid());
     }
@@ -81,14 +81,18 @@ public:
         static const uint64_t Poly = 0x42F0E1EBA9EA3693;
         crc_ ^= uint64_t(byte) << 56;
         for (int i = 0; i < 8; i++)
+        {
             crc_ = (crc_ & (uint64_t(1) << 63)) ? (crc_ << 1) ^ Poly : crc_ << 1;
+        }
     }
 
     void add(const uint8_t* bytes, unsigned int len)
     {
         assert(bytes);
         while (len--)
+        {
             add(*bytes++);
+        }
     }
 
     uint64_t get() const { return crc_ ^ 0xFFFFFFFFFFFFFFFF; }
@@ -127,15 +131,15 @@ public:
     enum { MaxFullNameLen = 80 };
 
     DataTypeDescriptor()
-    : kind_(DataTypeKind(0))
-    , full_name_("")
+        : kind_(DataTypeKind(0))
+        , full_name_("")
     { }
 
     DataTypeDescriptor(DataTypeKind kind, DataTypeID id, const DataTypeSignature& signature, const char* name)
-    : kind_(kind)
-    , id_(id)
-    , signature_(signature)
-    , full_name_(name)
+        : kind_(kind)
+        , id_(id)
+        , signature_(signature)
+        , full_name_(name)
     {
         assert(kind < NumDataTypeKinds);
         assert(name);
diff --git a/libuavcan/include/uavcan/debug.hpp b/libuavcan/include/uavcan/debug.hpp
index ad77034935..777e65093b 100644
--- a/libuavcan/include/uavcan/debug.hpp
+++ b/libuavcan/include/uavcan/debug.hpp
@@ -7,12 +7,12 @@
 
 #if UAVCAN_DEBUG
 
-#include <cstdio>
-#include <cstdarg>
+# include <cstdio>
+# include <cstdarg>
 
-#if __GNUC__
-__attribute__ ((format (printf, 2, 3)))
-#endif
+# if __GNUC__
+__attribute__ ((format(printf, 2, 3)))
+# endif
 static void UAVCAN_TRACE(const char* src, const char* fmt, ...)
 {
     va_list args;
@@ -25,6 +25,6 @@ static void UAVCAN_TRACE(const char* src, const char* fmt, ...)
 
 #else
 
-#  define UAVCAN_TRACE(...) ((void)0)
+# define UAVCAN_TRACE(...) ((void)0)
 
 #endif
diff --git a/libuavcan/include/uavcan/driver/can.hpp b/libuavcan/include/uavcan/driver/can.hpp
index 3e5420f590..d0a051035c 100644
--- a/libuavcan/include/uavcan/driver/can.hpp
+++ b/libuavcan/include/uavcan/driver/can.hpp
@@ -31,15 +31,15 @@ struct CanFrame
     uint8_t dlc;        ///< Data Length Code
 
     CanFrame()
-    : id(0)
-    , dlc(0)
+        : id(0)
+        , dlc(0)
     {
         std::fill(data, data + sizeof(data), 0);
     }
 
     CanFrame(uint32_t id, const uint8_t* data, unsigned int dlc)
-    : id(id)
-    , dlc(dlc)
+        : id(id)
+        , dlc(dlc)
     {
         assert(data && dlc <= 8);
         std::copy(data, data + dlc, this->data);
@@ -89,8 +89,8 @@ struct CanSelectMasks
     uint8_t write;
 
     CanSelectMasks()
-    : read(0)
-    , write(0)
+        : read(0)
+        , write(0)
     { }
 };
 
diff --git a/libuavcan/include/uavcan/dynamic_memory.hpp b/libuavcan/include/uavcan/dynamic_memory.hpp
index 5af9223a09..6f6a19d61c 100644
--- a/libuavcan/include/uavcan/dynamic_memory.hpp
+++ b/libuavcan/include/uavcan/dynamic_memory.hpp
@@ -76,10 +76,14 @@ public:
         for (int i = 0; i < MaxPools; i++)
         {
             if (pools_[i] == NULL)
+            {
                 break;
+            }
             void* const pmem = pools_[i]->allocate(size);
             if (pmem != NULL)
+            {
                 return pmem;
+            }
         }
         return NULL;
     }
@@ -123,18 +127,22 @@ public:
     static const int NumBlocks = int(PoolSize / BlockSize);
 
     PoolAllocator()
-    : free_list_(reinterpret_cast<Node*>(pool_)) // TODO: alignment
+        : free_list_(reinterpret_cast<Node*>(pool_)) // TODO: alignment
     {
         memset(pool_, 0, PoolSize);
         for (int i = 0; i < NumBlocks - 1; i++)
+        {
             free_list_[i].next = free_list_ + i + 1;
+        }
         free_list_[NumBlocks - 1].next = NULL;
     }
 
     void* allocate(std::size_t size)
     {
         if (free_list_ == NULL || size > BlockSize)
+        {
             return NULL;
+        }
         void* pmem = free_list_;
         free_list_ = free_list_->next;
         return pmem;
@@ -143,7 +151,9 @@ public:
     void deallocate(const void* ptr)
     {
         if (ptr == NULL)
+        {
             return;
+        }
         Node* p = static_cast<Node*>(const_cast<void*>(ptr));
 #if DEBUG || UAVCAN_DEBUG
         std::memset(p, 0, sizeof(Node));
diff --git a/libuavcan/include/uavcan/linked_list.hpp b/libuavcan/include/uavcan/linked_list.hpp
index 475055c726..11a36e2009 100644
--- a/libuavcan/include/uavcan/linked_list.hpp
+++ b/libuavcan/include/uavcan/linked_list.hpp
@@ -20,7 +20,7 @@ class LinkedListNode
 
 protected:
     LinkedListNode()
-    : next_(NULL)
+        : next_(NULL)
     { }
 
 public:
@@ -42,7 +42,7 @@ class LinkedListRoot
 
 public:
     LinkedListRoot()
-    : root_(NULL)
+        : root_(NULL)
     { }
 
     T* get() const { return root_; }
@@ -88,7 +88,9 @@ public:
             while (p->getNextListNode())
             {
                 if (predicate(p->getNextListNode()))
+                {
                     break;
+                }
                 p = p->getNextListNode();
             }
             node->setNextListNode(p->getNextListNode());
@@ -99,7 +101,9 @@ public:
     bool remove(const T* node)
     {
         if (root_ == NULL || node == NULL)
+        {
             return false;
+        }
 
         if (root_ == node)
         {
diff --git a/libuavcan/include/uavcan/map.hpp b/libuavcan/include/uavcan/map.hpp
index 277df04bb9..bfb9ee92b4 100644
--- a/libuavcan/include/uavcan/map.hpp
+++ b/libuavcan/include/uavcan/map.hpp
@@ -24,13 +24,16 @@ namespace uavcan
 template <typename Key, typename Value, unsigned int NumStaticEntries>
 class Map : Noncopyable
 {
-UAVCAN_PACKED_BEGIN
+    UAVCAN_PACKED_BEGIN
     struct KVPair
     {
         Key key;
         Value value;
         KVPair() { }
-        KVPair(const Key& key, const Value& value) : key(key), value(value) { }
+        KVPair(const Key& key, const Value& value)
+            : key(key)
+            , value(value)
+        { }
         bool match(const Key& rhs) const { return rhs == key; }
     };
 
@@ -49,7 +52,9 @@ UAVCAN_PACKED_BEGIN
         {
             void* const praw = allocator.allocate(sizeof(KVGroup));
             if (praw == NULL)
+            {
                 return NULL;
+            }
             return new (praw) KVGroup();
         }
 
@@ -66,12 +71,16 @@ UAVCAN_PACKED_BEGIN
         KVPair* find(const Key& key)
         {
             for (int i = 0; i < NumKV; i++)
+            {
                 if (kvs[i].match(key))
+                {
                     return kvs + i;
+                }
+            }
             return NULL;
         }
     };
-UAVCAN_PACKED_END
+    UAVCAN_PACKED_END
 
     LinkedListRoot<KVGroup> list_;
     IAllocator& allocator_;
@@ -80,15 +89,21 @@ UAVCAN_PACKED_END
     KVPair* find(const Key& key)
     {
         for (unsigned int i = 0; i < NumStaticEntries; i++)
+        {
             if (static_[i].match(key))
+            {
                 return static_ + i;
+            }
+        }
 
         KVGroup* p = list_.get();
         while (p)
         {
             KVPair* const kv = p->find(key);
             if (kv)
+            {
                 return kv;
+            }
             p = p->getNextListNode();
         }
         return NULL;
@@ -109,7 +124,9 @@ UAVCAN_PACKED_END
                 }
             }
             if (stat == NULL)
+            {
                 break;
+            }
 
             // Looking for the first NON-EMPTY dynamic entry, erasing immediately
             KVGroup* p = list_.get();
@@ -128,11 +145,15 @@ UAVCAN_PACKED_END
                     }
                 }
                 if (stop)
+                {
                     break;
+                }
                 p = p->getNextListNode();
             }
             if (dyn.match(Key()))
+            {
                 break;
+            }
 
             // Migrating
             *stat = dyn;
@@ -174,7 +195,7 @@ UAVCAN_PACKED_END
 
 public:
     Map(IAllocator& allocator)
-    : allocator_(allocator)
+        : allocator_(allocator)
     {
         assert(Key() == Key());
     }
@@ -203,7 +224,9 @@ public:
 
         KVGroup* const kvg = KVGroup::instantiate(allocator_);
         if (kvg == NULL)
+        {
             return NULL;
+        }
         list_.insert(kvg);
         kvg->kvs[0] = KVPair(key, value);
         return &kvg->kvs[0].value;
@@ -313,8 +336,12 @@ public:
     {
         unsigned int num = 0;
         for (unsigned int i = 0; i < NumStaticEntries; i++)
+        {
             if (!static_[i].match(Key()))
+            {
                 num++;
+            }
+        }
         return num;
     }
 
@@ -329,7 +356,9 @@ public:
             {
                 const KVPair* const kv = p->kvs + i;
                 if (!kv->match(Key()))
+                {
                     num++;
+                }
             }
             p = p->getNextListNode();
         }
diff --git a/libuavcan/include/uavcan/marshal/array.hpp b/libuavcan/include/uavcan/marshal/array.hpp
index dd72754570..6b9704fe8e 100644
--- a/libuavcan/include/uavcan/marshal/array.hpp
+++ b/libuavcan/include/uavcan/marshal/array.hpp
@@ -42,7 +42,9 @@ protected:
     SizeType validateRange(SizeType pos) const
     {
         if (pos < Size)
+        {
             return pos;
+        }
 #if UAVCAN_EXCEPTIONS
         throw std::out_of_range("uavcan::Array");
 #else
@@ -71,7 +73,9 @@ protected:
     SizeType validateRange(SizeType pos) const
     {
         if (pos < size_)
+        {
             return pos;
+        }
 #if UAVCAN_EXCEPTIONS
         throw std::out_of_range("uavcan::Array");
 #else
@@ -83,15 +87,21 @@ protected:
     void grow()
     {
         if (size_ >= MaxSize)
+        {
             validateRange(MaxSize);  // Will throw, assert() or do nothing
+        }
         else
+        {
             size_++;
+        }
     }
 
     void shrink()
     {
         if (size_ > 0)
+        {
             size_--;
+        }
     }
 
 public:
@@ -122,8 +132,8 @@ class ArrayImpl : public Select<ArrayMode == ArrayModeDynamic,
 public:
     enum
     {
-        IsStringLike = IsIntegerSpec<T>::Result && (T::MaxBitLen == 8 || T::MaxBitLen == 7)
-                    && (ArrayMode == ArrayModeDynamic)
+        IsStringLike = IsIntegerSpec<T>::Result && (T::MaxBitLen == 8 || T::MaxBitLen == 7) &&
+                       (ArrayMode == ArrayModeDynamic)
     };
 
 private:
@@ -134,7 +144,9 @@ private:
     typename EnableIf<sizeof(U(0) == U())>::Type initialize(int)
     {
         if (ArrayMode != ArrayModeDynamic)
+        {
             std::fill(data_, data_ + MaxSize, U());
+        }
     }
     template <typename> void initialize(...) { }
 
@@ -233,7 +245,9 @@ class Array : public ArrayImpl<T, ArrayMode, MaxSize_>
             const bool last_item = i == (size() - 1);
             const int res = RawValueType::encode(Base::at(i), codec, last_item ? tao_mode : TailArrayOptDisabled);
             if (res <= 0)
+            {
                 return res;
+            }
         }
         return 1;
     }
@@ -246,10 +260,14 @@ class Array : public ArrayImpl<T, ArrayMode, MaxSize_>
         {
             const int res_sz = Base::RawSizeType::encode(size(), codec, TailArrayOptDisabled);
             if (res_sz <= 0)
+            {
                 return res_sz;
+            }
         }
         if (size() == 0)
+        {
             return 1;
+        }
         return encodeImpl(codec, self_tao_enabled ? TailArrayOptDisabled : tao_mode, FalseType());
     }
 
@@ -262,7 +280,9 @@ class Array : public ArrayImpl<T, ArrayMode, MaxSize_>
             ValueType value;                          // TODO: avoid extra copy
             const int res = RawValueType::decode(value, codec, last_item ? tao_mode : TailArrayOptDisabled);
             if (res <= 0)
+            {
                 return res;
+            }
             Base::at(i) = value;
         }
         return 1;
@@ -279,11 +299,17 @@ class Array : public ArrayImpl<T, ArrayMode, MaxSize_>
                 ValueType value;
                 const int res = RawValueType::decode(value, codec, TailArrayOptDisabled);
                 if (res < 0)
+                {
                     return res;
+                }
                 if (res == 0)             // Success: End of stream reached (even if zero items were read)
+                {
                     return 1;
+                }
                 if (size() == MaxSize_)   // Error: Max array length reached, but the end of stream is not
+                {
                     return -1;
+                }
                 push_back(value);
             }
         }
@@ -292,12 +318,18 @@ class Array : public ArrayImpl<T, ArrayMode, MaxSize_>
             typename StorageType<typename Base::RawSizeType>::Type sz = 0;
             const int res_sz = Base::RawSizeType::decode(sz, codec, TailArrayOptDisabled);
             if (res_sz <= 0)
+            {
                 return res_sz;
+            }
             if ((sz > 0) && ((sz - 1u) > (MaxSize_ - 1u))) // -Werror=type-limits
+            {
                 return -1;
+            }
             resize(sz);
             if (sz == 0)
+            {
                 return 1;
+            }
             return decodeImpl(codec, tao_mode, FalseType());
         }
         assert(0); // Unreachable
@@ -347,13 +379,17 @@ public:
         {
             unsigned int cnt = new_size - size();
             while (cnt--)
+            {
                 push_back(filler);
+            }
         }
         else if (new_size < size())
         {
             unsigned int cnt = size() - new_size;
             while (cnt--)
+            {
                 pop_back();
+            }
         }
     }
 
@@ -370,17 +406,25 @@ public:
     operator==(const R& rhs) const
     {
         if (size() != rhs.size())
+        {
             return false;
+        }
         for (SizeType i = 0; i < size(); i++)  // Bitset does not have iterators
+        {
             if (!(Base::at(i) == rhs[i]))
+            {
                 return false;
+            }
+        }
         return true;
     }
 
     bool operator==(const char* ch) const
     {
         if (ch == NULL)
+        {
             return false;
+        }
         return std::strcmp(Base::c_str(), ch) == 0;
     }
 
@@ -395,9 +439,13 @@ public:
         StaticAssert<IsDynamic>::check();
         Base::clear();
         if (ch == NULL)
+        {
             handleFatalError("Null pointer in Array<>::operator=(const char*)");
+        }
         while (*ch)
+        {
             push_back(*ch++);
+        }
         return *this;
     }
 
@@ -406,9 +454,13 @@ public:
         StaticAssert<Base::IsStringLike>::check();
         StaticAssert<IsDynamic>::check();
         if (ch == NULL)
+        {
             handleFatalError("Null pointer in Array<>::operator+=(const char*)");
+        }
         while (*ch)
+        {
             push_back(*ch++);
+        }
         return *this;
     }
 
@@ -420,7 +472,9 @@ public:
                                 SizeType, typename Rhs::SizeType>::Result CommonSizeType;
         StaticAssert<IsDynamic>::check();
         for (CommonSizeType i = 0; i < rhs.size(); i++)
+        {
             push_back(rhs[i]);
+        }
         return *this;
     }
 
@@ -435,7 +489,7 @@ public:
         StaticAssert<IsDynamic>::check();
 
         StaticAssert<sizeof(A() == A(0))>::check();             // This check allows to weed out most non-trivial types
-        StaticAssert<sizeof(A) <= sizeof(long double)>::check();// Another stupid check to catch non-trivial types
+        StaticAssert<sizeof(A) <= sizeof(long double)>::check(); // Another stupid check to catch non-trivial types
 
         if (!format)
         {
@@ -487,11 +541,17 @@ class YamlStreamer<Array<T, ArrayMode, MaxSize> >
     static bool isNiceCharacter(int c)
     {
         if (c >= 32 && c <= 126)
+        {
             return true;
+        }
         static const char Good[] = {'\n', '\r', '\t'};
         for (unsigned int i = 0; i < sizeof(Good) / sizeof(Good[0]); i++)
+        {
             if (Good[i] == c)
+            {
                 return true;
+            }
+        }
         return false;
     }
 
@@ -503,7 +563,9 @@ class YamlStreamer<Array<T, ArrayMode, MaxSize> >
         {
             YamlStreamer<T>::stream(s, array.at(i), 0);
             if ((i + 1) < array.size())
+            {
                 s << ", ";
+            }
         }
         s << ']';
     }
@@ -522,14 +584,18 @@ class YamlStreamer<Array<T, ArrayMode, MaxSize> >
                 {
                     nibbles[i] += '0';
                     if (nibbles[i] > '9')
+                    {
                         nibbles[i] += 'A' - '9' - 1;
+                    }
                 }
                 s << "\\x" << nibbles[0] << nibbles[1];
             }
             else
             {
                 if (c == '"' || c == '\\')      // YAML requires to escape these two
+                {
                     s << '\\';
+                }
                 s << char(c);
             }
         }
@@ -582,7 +648,9 @@ class YamlStreamer<Array<T, ArrayMode, MaxSize> >
         {
             s << '\n';
             for (int pos = 0; pos < level; pos++)
+            {
                 s << "  ";
+            }
             s << "- ";
             YamlStreamer<T>::stream(s, array.at(i), level + 1);
         }
@@ -593,8 +661,9 @@ public:
     static void stream(Stream& s, const ArrayType& array, int level)
     {
         typedef typename Select<ArrayType::IsStringLike, SelectorStringLike,
-                typename Select<IsPrimitiveType<typename ArrayType::RawValueType>::Result, SelectorPrimitives,
-                                  SelectorObjects>::Result >::Result Type;
+                                typename Select<IsPrimitiveType<typename ArrayType::RawValueType>::Result,
+                                                SelectorPrimitives,
+                                                SelectorObjects>::Result >::Result Type;
         genericStreamImpl(s, array, level, Type());
     }
 };
diff --git a/libuavcan/include/uavcan/marshal/bit_stream.hpp b/libuavcan/include/uavcan/marshal/bit_stream.hpp
index 7df928274b..6bcf2b385d 100644
--- a/libuavcan/include/uavcan/marshal/bit_stream.hpp
+++ b/libuavcan/include/uavcan/marshal/bit_stream.hpp
@@ -43,9 +43,9 @@ public:
     };
 
     BitStream(ITransferBuffer& buf)
-    : buf_(buf)
-    , bit_offset_(0)
-    , byte_cache_(0)
+        : buf_(buf)
+        , bit_offset_(0)
+        , byte_cache_(0)
     {
         StaticAssert<sizeof(uint8_t) == 1>::check();
     }
diff --git a/libuavcan/include/uavcan/marshal/char_array_formatter.hpp b/libuavcan/include/uavcan/marshal/char_array_formatter.hpp
index e29b401261..f5c61810e2 100644
--- a/libuavcan/include/uavcan/marshal/char_array_formatter.hpp
+++ b/libuavcan/include/uavcan/marshal/char_array_formatter.hpp
@@ -39,7 +39,9 @@ class CharArrayFormatter
         if (std::is_same<T, char>())
         {
             if (array_.size() != array_.capacity())
+            {
                 array_.push_back(value);
+            }
         }
         else if (std::is_signed<T>())
         {
@@ -67,7 +69,7 @@ public:
     typedef ArrayType_ ArrayType;
 
     CharArrayFormatter(ArrayType& array)
-    : array_(array)
+        : array_(array)
     { }
 
     ArrayType& getArray() { return array_; }
@@ -78,7 +80,7 @@ public:
         writeValue(text);
     }
 
-    template<typename T, typename... Args>
+    template <typename T, typename... Args>
     void write(const char* s, T value, Args... args)
     {
         while (s && *s)
@@ -105,7 +107,7 @@ public:
     typedef ArrayType_ ArrayType;
 
     CharArrayFormatter(ArrayType& array)
-    : array_(array)
+        : array_(array)
     { }
 
     ArrayType& getArray() { return array_; }
diff --git a/libuavcan/include/uavcan/marshal/float_spec.hpp b/libuavcan/include/uavcan/marshal/float_spec.hpp
index 1ae873d751..e63755365f 100644
--- a/libuavcan/include/uavcan/marshal/float_spec.hpp
+++ b/libuavcan/include/uavcan/marshal/float_spec.hpp
@@ -124,9 +124,13 @@ public:
     {
         // cppcheck-suppress duplicateExpression
         if (CastMode == CastModeSaturate)
+        {
             saturate(value);
+        }
         else
+        {
             truncate(value);
+        }
         return codec.encode<BitLen>(IEEE754Converter::toIeee<BitLen>(value));
     }
 
@@ -135,7 +139,9 @@ public:
         typename IntegerSpec<BitLen, SignednessUnsigned, CastModeTruncate>::StorageType ieee = 0;
         const int res = codec.decode<BitLen>(ieee);
         if (res <= 0)
+        {
             return res;
+        }
         out_value = IEEE754Converter::toNative<BitLen>(ieee);
         return res;
     }
@@ -149,9 +155,13 @@ private:
         if (!IsExactRepresentation && isfinite(value))
         {
             if (value > max())
+            {
                 value = max();
+            }
             else if (value < -max())
+            {
                 value = -max();
+            }
         }
     }
 
@@ -161,9 +171,13 @@ private:
         if (!IsExactRepresentation && isfinite(value))
         {
             if (value > max())
+            {
                 value = std::numeric_limits<StorageType>::infinity();
+            }
             else if (value < -max())
+            {
                 value = -std::numeric_limits<StorageType>::infinity();
+            }
         }
     }
 };
diff --git a/libuavcan/include/uavcan/marshal/integer_spec.hpp b/libuavcan/include/uavcan/marshal/integer_spec.hpp
index b5e5ac296f..3a95fb0c6c 100644
--- a/libuavcan/include/uavcan/marshal/integer_spec.hpp
+++ b/libuavcan/include/uavcan/marshal/integer_spec.hpp
@@ -64,9 +64,13 @@ private:
     static void saturate(StorageType& value)
     {
         if (value > max())
+        {
             value = max();
+        }
         else if (value <= min()) // 'Less or Equal' allows to suppress compiler warning on unsigned types
+        {
             value = min();
+        }
     }
 
     static void truncate(StorageType& value) { value &= mask(); }
@@ -88,9 +92,13 @@ public:
         validate();
         // cppcheck-suppress duplicateExpression
         if (CastMode == CastModeSaturate)
+        {
             saturate(value);
+        }
         else
+        {
             truncate(value);
+        }
         return codec.encode<BitLen>(value);
     }
 
@@ -111,10 +119,16 @@ class IntegerSpec<0, Signedness, CastMode>;         // Invalid instantiation
 
 
 template <typename T>
-struct IsIntegerSpec { enum { Result = 0 }; };
+struct IsIntegerSpec
+{
+    enum { Result = 0 };
+};
 
 template <unsigned int BitLen, Signedness Signedness, CastMode CastMode>
-struct IsIntegerSpec<IntegerSpec<BitLen, Signedness, CastMode> > { enum { Result = 1 }; };
+struct IsIntegerSpec<IntegerSpec<BitLen, Signedness, CastMode> >
+{
+    enum { Result = 1 };
+};
 
 
 template <unsigned int BitLen, Signedness Signedness, CastMode CastMode>
@@ -128,7 +142,7 @@ struct YamlStreamer<IntegerSpec<BitLen, Signedness, CastMode> >
     {
         // Get rid of character types - we want its integer representation, not ASCII code
         typedef typename Select<(sizeof(StorageType) >= sizeof(int)), StorageType,
-                typename Select<RawType::IsSigned, int, unsigned int>::Result >::Result TempType;
+                                typename Select<RawType::IsSigned, int, unsigned int>::Result >::Result TempType;
         s << TempType(value);
     }
 };
diff --git a/libuavcan/include/uavcan/marshal/scalar_codec.hpp b/libuavcan/include/uavcan/marshal/scalar_codec.hpp
index 8c9e450224..95970fa8b8 100644
--- a/libuavcan/include/uavcan/marshal/scalar_codec.hpp
+++ b/libuavcan/include/uavcan/marshal/scalar_codec.hpp
@@ -45,9 +45,10 @@ class ScalarCodec
          * It is likely to be OK anyway, so feel free to remove this assert() as needed.
          */
         assert(big_endian == false);
-
         if (big_endian)
+        {
             swapByteOrder(bytes);
+        }
     }
 
     template <int BitLen, int Size>
@@ -62,9 +63,10 @@ class ScalarCodec
     fixTwosComplement(T& value)
     {
         StaticAssert<std::numeric_limits<T>::is_integer>::check(); // Not applicable to floating point types
-
         if (value & (T(1) << (BitLen - 1)))                        // The most significant bit is set --> negative
+        {
             value |= 0xFFFFFFFFFFFFFFFF & ~((T(1) << BitLen) - 1);
+        }
     }
 
     template <int BitLen, typename T>
@@ -98,7 +100,7 @@ class ScalarCodec
 
 public:
     ScalarCodec(BitStream& stream)
-    : stream_(stream)
+        : stream_(stream)
     { }
 
     template <int BitLen, typename T>
@@ -111,14 +113,13 @@ public:
             uint8_t bytes[sizeof(T)];
         } byte_union;
         byte_union.value = value;
-
         clearExtraBits<BitLen>(byte_union.value);
         convertByteOrder<BitLen>(byte_union.bytes);
-
         // Underlying stream class assumes that more significant bits have lower index, so we need to shift some.
         if (BitLen % 8)
+        {
             byte_union.bytes[BitLen / 8] <<= (8 - (BitLen % 8)) & 7;
-
+        }
         return stream_.write(byte_union.bytes, BitLen);
     }
 
@@ -135,14 +136,15 @@ public:
 
         const int read_res = stream_.read(byte_union.bytes, BitLen);
         if (read_res <= 0)
+        {
             return read_res;
-
+        }
         if (BitLen % 8)
+        {
             byte_union.bytes[BitLen / 8] >>= (8 - (BitLen % 8)) & 7;  // As in encode(), vice versa
-
+        }
         convertByteOrder<BitLen>(byte_union.bytes);
         fixTwosComplement<BitLen>(byte_union.value);
-
         value = byte_union.value;
         return read_res;
     }
diff --git a/libuavcan/include/uavcan/marshal/type_util.hpp b/libuavcan/include/uavcan/marshal/type_util.hpp
index 440bde0e84..d037f7c219 100644
--- a/libuavcan/include/uavcan/marshal/type_util.hpp
+++ b/libuavcan/include/uavcan/marshal/type_util.hpp
@@ -15,17 +15,29 @@ enum TailArrayOptimizationMode { TailArrayOptDisabled, TailArrayOptEnabled };
 
 
 template <unsigned long Num>
-struct IntegerBitLen    { enum { Result = 1 + IntegerBitLen<(Num >> 1)>::Result }; };
+struct IntegerBitLen
+{
+    enum { Result = 1 + IntegerBitLen<(Num >> 1)>::Result };
+};
 template <>
-struct IntegerBitLen<0> { enum { Result = 0 }; };
+struct IntegerBitLen<0>
+{
+    enum { Result = 0 };
+};
 
 
 template <unsigned long BitLen>
-struct BitLenToByteLen { enum { Result = (BitLen + 7) / 8 }; };
+struct BitLenToByteLen
+{
+    enum { Result = (BitLen + 7) / 8 };
+};
 
 
 template <typename T, typename Enable = void>
-struct StorageType { typedef T Type; };
+struct StorageType
+{
+    typedef T Type;
+};
 
 template <typename T>
 struct StorageType<T, typename EnableIfType<typename T::StorageType>::Type>
diff --git a/libuavcan/include/uavcan/node/generic_publisher.hpp b/libuavcan/include/uavcan/node/generic_publisher.hpp
index c08ed9814c..38874c59d5 100644
--- a/libuavcan/include/uavcan/node/generic_publisher.hpp
+++ b/libuavcan/include/uavcan/node/generic_publisher.hpp
@@ -24,8 +24,11 @@ namespace uavcan
 template <typename DataSpec, typename DataStruct>
 class GenericPublisher
 {
-    enum { Qos = (DataTypeKind(DataSpec::DataTypeKind) == DataTypeKindMessage) ?
-                  CanTxQueue::Volatile : CanTxQueue::Persistent };
+    enum
+    {
+        Qos = (DataTypeKind(DataSpec::DataTypeKind) == DataTypeKindMessage) ?
+              CanTxQueue::Volatile : CanTxQueue::Persistent
+    };
 
     const MonotonicDuration max_transfer_interval_;   // TODO: memory usage can be reduced
     MonotonicDuration tx_timeout_;
@@ -35,7 +38,9 @@ class GenericPublisher
     bool checkInit()
     {
         if (sender_)
+        {
             return true;
+        }
 
         GlobalDataTypeRegistry::instance().freeze();
 
@@ -63,11 +68,15 @@ class GenericPublisher
                        TransferID* tid, MonotonicTime blocking_deadline)
     {
         if (!checkInit())
+        {
             return -1;
+        }
 
         IMarshalBuffer* const buf = getBuffer();
         if (!buf)
+        {
             return -1;
+        }
 
         {
             BitStream bitstream(*buf);
@@ -94,9 +103,9 @@ class GenericPublisher
 public:
     GenericPublisher(INode& node, MonotonicDuration tx_timeout,
                      MonotonicDuration max_transfer_interval = TransferSender::getDefaultMaxTransferInterval())
-    : max_transfer_interval_(max_transfer_interval)
-    , tx_timeout_(tx_timeout)
-    , node_(node)
+        : max_transfer_interval_(max_transfer_interval)
+        , tx_timeout_(tx_timeout)
+        , node_(node)
     {
         setTxTimeout(tx_timeout);
 #if UAVCAN_DEBUG
diff --git a/libuavcan/include/uavcan/node/generic_subscriber.hpp b/libuavcan/include/uavcan/node/generic_subscriber.hpp
index 9ba10162a6..bdb1d8240d 100644
--- a/libuavcan/include/uavcan/node/generic_subscriber.hpp
+++ b/libuavcan/include/uavcan/node/generic_subscriber.hpp
@@ -22,7 +22,7 @@ class ReceivedDataStructure : public DataType_
 {
     const IncomingTransfer* transfer_;
 
-    template <typename Ret, Ret (IncomingTransfer::*Fun)() const>
+    template <typename Ret, Ret(IncomingTransfer::*Fun) () const>
     Ret safeget() const
     {
         if (!transfer_)
@@ -60,8 +60,8 @@ template <typename Stream, typename DataType>
 static Stream& operator<<(Stream& s, const ReceivedDataStructure<DataType>& rds)
 {
     s << "# Received struct ts_m=" << rds.getMonotonicTimestamp()
-        << " ts_utc=" << rds.getUtcTimestamp()
-        << " snid=" << int(rds.getSrcNodeID().get()) << "\n";
+      << " ts_utc=" << rds.getUtcTimestamp()
+      << " snid=" << int(rds.getSrcNodeID().get()) << "\n";
     s << static_cast<const DataType&>(rds);
     return s;
 }
@@ -98,8 +98,8 @@ class GenericSubscriber : Noncopyable
 
     public:
         TransferForwarder(SelfType& obj, const DataTypeDescriptor& data_type, IAllocator& allocator)
-        : TransferListenerType(data_type, allocator)
-        , obj_(obj)
+            : TransferListenerType(data_type, allocator)
+            , obj_(obj)
         { }
     };
 
@@ -116,7 +116,9 @@ class GenericSubscriber : Noncopyable
     bool checkInit()
     {
         if (forwarder_)
+        {
             return true;
+        }
 
         GlobalDataTypeRegistry::instance().freeze();
 
@@ -161,7 +163,7 @@ class GenericSubscriber : Noncopyable
         }
     }
 
-    int genericStart(bool(Dispatcher::*registration_method)(TransferListenerBase* listener))
+    int genericStart(bool (Dispatcher::*registration_method)(TransferListenerBase* listener))
     {
         stop();
 
@@ -182,8 +184,8 @@ class GenericSubscriber : Noncopyable
 
 protected:
     explicit GenericSubscriber(INode& node)
-    : node_(node)
-    , failure_count_(0)
+        : node_(node)
+        , failure_count_(0)
     { }
 
     virtual ~GenericSubscriber() { stop(); }
diff --git a/libuavcan/include/uavcan/node/global_data_type_registry.hpp b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
index 1e210fa1d3..968fbbb11a 100644
--- a/libuavcan/include/uavcan/node/global_data_type_registry.hpp
+++ b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
@@ -13,7 +13,7 @@
 #include <uavcan/fatal_error.hpp>
 #include <uavcan/linked_list.hpp>
 #if UAVCAN_DEBUG
-#include <uavcan/debug.hpp>
+# include <uavcan/debug.hpp>
 #endif
 
 namespace uavcan
@@ -30,7 +30,7 @@ class GlobalDataTypeRegistry : Noncopyable
         Entry() { }
 
         Entry(DataTypeKind kind, DataTypeID id, const DataTypeSignature& signature, const char* name)
-        : descriptor(kind, id, signature, name)
+            : descriptor(kind, id, signature, name)
         { }
     };
 
@@ -75,19 +75,25 @@ public:
     RegistResult regist(DataTypeID id)
     {
         if (isFrozen())
+        {
             return RegistResultFrozen;
+        }
 
         static Entry entry;
         {
             const RegistResult remove_res = remove(&entry);
             if (remove_res != RegistResultOk)
+            {
                 return remove_res;
+            }
         }
         entry = Entry(DataTypeKind(Type::DataTypeKind), id, Type::getDataTypeSignature(), Type::getDataTypeFullName());
         {
             const RegistResult remove_res = remove(&entry);
             if (remove_res != RegistResultOk)
+            {
                 return remove_res;
+            }
         }
         return registImpl(&entry);
     }
@@ -114,9 +120,13 @@ public:
                      int(frozen_), getNumMessageTypes(), getNumServiceTypes());
         frozen_ = false;
         while (msgs_.get())
+        {
             msgs_.remove(msgs_.get());
+        }
         while (srvs_.get())
+        {
             srvs_.remove(srvs_.get());
+        }
     }
 #endif
 };
@@ -131,7 +141,9 @@ struct DefaultDataTypeRegistrator
             GlobalDataTypeRegistry::instance().regist<Type>(Type::DefaultDataTypeID);
 
         if (res != GlobalDataTypeRegistry::RegistResultOk)
+        {
             handleFatalError("Type registration failed");
+        }
     }
 };
 
diff --git a/libuavcan/include/uavcan/node/marshal_buffer.hpp b/libuavcan/include/uavcan/node/marshal_buffer.hpp
index 78744fad94..cd8b7a0796 100644
--- a/libuavcan/include/uavcan/node/marshal_buffer.hpp
+++ b/libuavcan/include/uavcan/node/marshal_buffer.hpp
@@ -59,7 +59,9 @@ public:
     IMarshalBuffer* getBuffer(unsigned int size)
     {
         if (size > MaxSize)
+        {
             return NULL;
+        }
         buffer_.reset();
         return &buffer_;
     }
diff --git a/libuavcan/include/uavcan/node/publisher.hpp b/libuavcan/include/uavcan/node/publisher.hpp
index 152936e525..9f7f1c6054 100644
--- a/libuavcan/include/uavcan/node/publisher.hpp
+++ b/libuavcan/include/uavcan/node/publisher.hpp
@@ -19,7 +19,7 @@ public:
 
     explicit Publisher(INode& node, MonotonicDuration tx_timeout = getDefaultTxTimeout(),
                        MonotonicDuration max_transfer_interval = TransferSender::getDefaultMaxTransferInterval())
-    : BaseType(node, tx_timeout, max_transfer_interval)
+        : BaseType(node, tx_timeout, max_transfer_interval)
     {
 #if UAVCAN_DEBUG
         assert(getTxTimeout() == tx_timeout);  // Making sure default values are OK
diff --git a/libuavcan/include/uavcan/node/scheduler.hpp b/libuavcan/include/uavcan/node/scheduler.hpp
index 0df72ea579..241d907897 100644
--- a/libuavcan/include/uavcan/node/scheduler.hpp
+++ b/libuavcan/include/uavcan/node/scheduler.hpp
@@ -20,7 +20,7 @@ protected:
     Scheduler& scheduler_;
 
     explicit DeadlineHandler(Scheduler& scheduler)
-    : scheduler_(scheduler)
+        : scheduler_(scheduler)
     { }
 
     virtual ~DeadlineHandler() { stop(); }
@@ -76,10 +76,10 @@ class Scheduler : Noncopyable
 
 public:
     Scheduler(ICanDriver& can_driver, IAllocator& allocator, ISystemClock& sysclock, IOutgoingTransferRegistry& otr)
-    : dispatcher_(can_driver, allocator, sysclock, otr)
-    , prev_cleanup_ts_(sysclock.getMonotonic())
-    , deadline_resolution_(MonotonicDuration::fromMSec(DefaultDeadlineResolutionMs))
-    , cleanup_period_(MonotonicDuration::fromMSec(DefaultCleanupPeriodMs))
+        : dispatcher_(can_driver, allocator, sysclock, otr)
+        , prev_cleanup_ts_(sysclock.getMonotonic())
+        , deadline_resolution_(MonotonicDuration::fromMSec(DefaultDeadlineResolutionMs))
+        , cleanup_period_(MonotonicDuration::fromMSec(DefaultCleanupPeriodMs))
     { }
 
     int spin(MonotonicTime deadline);
diff --git a/libuavcan/include/uavcan/node/service_client.hpp b/libuavcan/include/uavcan/node/service_client.hpp
index e2c08c6f5a..4d639186ef 100644
--- a/libuavcan/include/uavcan/node/service_client.hpp
+++ b/libuavcan/include/uavcan/node/service_client.hpp
@@ -29,9 +29,9 @@ struct ServiceCallResult
     ResponseFieldType& response;      ///< Either response contents or unspecified response structure
 
     ServiceCallResult(Status status, NodeID server_node_id, ResponseFieldType& response)
-    : status(status)
-    , server_node_id(server_node_id)
-    , response(response)
+        : status(status)
+        , server_node_id(server_node_id)
+        , response(response)
     {
         assert(server_node_id.isUnicast());
         assert(status == Success || status == ErrorTimeout);
@@ -44,21 +44,25 @@ template <typename Stream, typename DataType>
 static Stream& operator<<(Stream& s, const ServiceCallResult<DataType>& scr)
 {
     s << "# Service call result [" << DataType::getDataTypeFullName() << "] "
-        << (scr.isSuccessful() ? "OK" : "FAILURE")
-        << " server_node_id=" << int(scr.server_node_id.get()) << "\n";
+      << (scr.isSuccessful() ? "OK" : "FAILURE")
+      << " server_node_id=" << int(scr.server_node_id.get()) << "\n";
     if (scr.isSuccessful())
+    {
         s << scr.response;
+    }
     else
+    {
         s << "# (no data)";
+    }
     return s;
 }
 
 
-template <typename DataType_, typename Callback = void(*)(const ServiceCallResult<DataType_>&)>
-class ServiceClient :
-    public GenericSubscriber<DataType_, typename DataType_::Response,
-                             typename ServiceResponseTransferListenerInstantiationHelper<DataType_>::Type >,
-    public DeadlineHandler
+template <typename DataType_, typename Callback = void (*)(const ServiceCallResult<DataType_>&)>
+class ServiceClient
+    : public GenericSubscriber<DataType_, typename DataType_::Response,
+                               typename ServiceResponseTransferListenerInstantiationHelper<DataType_>::Type >
+    , public DeadlineHandler
 {
 public:
     typedef DataType_ DataType;
@@ -82,9 +86,13 @@ private:
     void invokeCallback(ServiceCallResultType& result)
     {
         if (isCallbackValid())
+        {
             callback_(result);
+        }
         else
+        {
             handleFatalError("Invalid caller callback");
+        }
     }
 
     void handleReceivedDataStruct(ReceivedDataStructure<ResponseType>& response)
@@ -128,12 +136,12 @@ private:
 
 public:
     explicit ServiceClient(INode& node, const Callback& callback = Callback())
-    : SubscriberType(node)
-    , DeadlineHandler(node.getScheduler())
-    , publisher_(node, getDefaultRequestTimeout())
-    , callback_(callback)
-    , request_timeout_(getDefaultRequestTimeout())
-    , pending_(false)
+        : SubscriberType(node)
+        , DeadlineHandler(node.getScheduler())
+        , publisher_(node, getDefaultRequestTimeout())
+        , callback_(callback)
+        , request_timeout_(getDefaultRequestTimeout())
+        , pending_(false)
     {
         setRequestTimeout(getDefaultRequestTimeout());
 #if UAVCAN_DEBUG
@@ -181,7 +189,7 @@ public:
         const MonotonicTime otr_deadline =
             SubscriberType::getNode().getMonotonicTime() + TransferSender::getDefaultMaxTransferInterval();
         TransferID* const otr_tid = SubscriberType::getNode().getDispatcher().getOutgoingTransferRegistry()
-            .accessOrCreate(otr_key, otr_deadline);
+                                        .accessOrCreate(otr_key, otr_deadline);
         if (!otr_tid)
         {
             UAVCAN_TRACE("ServiceClient", "OTR access failure, dtd=%s", descr->toString().c_str());
@@ -238,7 +246,9 @@ public:
         DeadlineHandler::stop();
         TransferListenerType* const tl = SubscriberType::getTransferListener();
         if (tl)
+        {
             tl->stopAcceptingAnything();
+        }
     }
 
     bool isPending() const { return pending_; }
diff --git a/libuavcan/include/uavcan/node/service_server.hpp b/libuavcan/include/uavcan/node/service_server.hpp
index 7dddb3727b..b8462e4682 100644
--- a/libuavcan/include/uavcan/node/service_server.hpp
+++ b/libuavcan/include/uavcan/node/service_server.hpp
@@ -11,8 +11,8 @@ namespace uavcan
 {
 
 template <typename DataType_,
-          typename Callback = void(*)(const ReceivedDataStructure<typename DataType_::Request>&,
-                                      typename DataType_::Response&),
+          typename Callback = void (*)(const ReceivedDataStructure<typename DataType_::Request>&,
+                                       typename DataType_::Response&),
           unsigned int NumStaticReceivers = 2,
           unsigned int NumStaticBufs = 1>
 class ServiceServer : public GenericSubscriber<DataType_, typename DataType_::Request,
@@ -45,10 +45,12 @@ private:
             callback_(request, response_);
         }
         else
+        {
             handleFatalError("Invalid service server callback");
+        }
 
         const int res = publisher_.publish(response_, TransferTypeServiceResponse, request.getSrcNodeID(),
-            request.getTransferID());
+                                           request.getTransferID());
         if (res < 0)
         {
             UAVCAN_TRACE("ServiceServer", "Response publication failure: %i", res);
@@ -58,10 +60,10 @@ private:
 
 public:
     explicit ServiceServer(INode& node)
-    : SubscriberType(node)
-    , publisher_(node, getDefaultTxTimeout())
-    , callback_()
-    , response_failure_count_(0)
+        : SubscriberType(node)
+        , publisher_(node, getDefaultTxTimeout())
+        , callback_()
+        , response_failure_count_(0)
     {
         assert(getTxTimeout() == getDefaultTxTimeout());  // Making sure it is valid
 
diff --git a/libuavcan/include/uavcan/node/subscriber.hpp b/libuavcan/include/uavcan/node/subscriber.hpp
index b09ac0021d..5ad0812850 100644
--- a/libuavcan/include/uavcan/node/subscriber.hpp
+++ b/libuavcan/include/uavcan/node/subscriber.hpp
@@ -11,7 +11,7 @@ namespace uavcan
 {
 
 template <typename DataType_,
-          typename Callback = void(*)(const ReceivedDataStructure<DataType_>&),
+          typename Callback = void (*)(const ReceivedDataStructure<DataType_>&),
           unsigned int NumStaticReceivers = 2,
           unsigned int NumStaticBufs = 1>
 class Subscriber : public GenericSubscriber<DataType_, DataType_,
@@ -28,17 +28,21 @@ class Subscriber : public GenericSubscriber<DataType_, DataType_,
     void handleReceivedDataStruct(ReceivedDataStructure<DataType_>& msg)
     {
         if (try_implicit_cast<bool>(callback_, true))
+        {
             callback_(msg);
+        }
         else
+        {
             handleFatalError("Invalid subscriber callback");
+        }
     }
 
 public:
     typedef DataType_ DataType;
 
     explicit Subscriber(INode& node)
-    : BaseType(node)
-    , callback_()
+        : BaseType(node)
+        , callback_()
     {
         StaticAssert<DataTypeKind(DataType::DataTypeKind) == DataTypeKindMessage>::check();
     }
diff --git a/libuavcan/include/uavcan/node/timer.hpp b/libuavcan/include/uavcan/node/timer.hpp
index 7a3303065e..10525e963c 100644
--- a/libuavcan/include/uavcan/node/timer.hpp
+++ b/libuavcan/include/uavcan/node/timer.hpp
@@ -22,8 +22,8 @@ struct TimerEvent
     MonotonicTime real_time;
 
     TimerEvent(MonotonicTime scheduled_time, MonotonicTime real_time)
-    : scheduled_time(scheduled_time)
-    , real_time(real_time)
+        : scheduled_time(scheduled_time)
+        , real_time(real_time)
     { }
 };
 
@@ -41,8 +41,8 @@ public:
     using DeadlineHandler::getScheduler;
 
     explicit Timer(INode& node)
-    : DeadlineHandler(node.getScheduler())
-    , period_(MonotonicDuration::getInfinite())
+        : DeadlineHandler(node.getScheduler())
+        , period_(MonotonicDuration::getInfinite())
     { }
 
     void startOneShotWithDeadline(MonotonicTime deadline);
@@ -63,20 +63,24 @@ class TimerEventForwarder : public Timer
     void handleTimerEvent(const TimerEvent& event)
     {
         if (try_implicit_cast<bool>(callback_, true))
+        {
             callback_(event);
+        }
         else
+        {
             handleFatalError("Invalid timer callback");
+        }
     }
 
 public:
     explicit TimerEventForwarder(INode& node)
-    : Timer(node)
-    , callback_()
+        : Timer(node)
+        , callback_()
     { }
 
     TimerEventForwarder(INode& node, Callback callback)
-    : Timer(node)
-    , callback_(callback)
+        : Timer(node)
+        , callback_(callback)
     { }
 
     const Callback& getCallback() const { return callback_; }
diff --git a/libuavcan/include/uavcan/protocol/data_type_info_provider.hpp b/libuavcan/include/uavcan/protocol/data_type_info_provider.hpp
index 6f07c3c8a8..eaf1cfe2c3 100644
--- a/libuavcan/include/uavcan/protocol/data_type_info_provider.hpp
+++ b/libuavcan/include/uavcan/protocol/data_type_info_provider.hpp
@@ -16,13 +16,13 @@ namespace uavcan
 class DataTypeInfoProvider : Noncopyable
 {
     typedef MethodBinder<DataTypeInfoProvider*,
-        void (DataTypeInfoProvider::*)(const protocol::ComputeAggregateTypeSignature::Request&,
-                                       protocol::ComputeAggregateTypeSignature::Response&)>
+                         void (DataTypeInfoProvider::*)(const protocol::ComputeAggregateTypeSignature::Request&,
+                                                        protocol::ComputeAggregateTypeSignature::Response&)>
         ComputeAggregateTypeSignatureCallback;
 
     typedef MethodBinder<DataTypeInfoProvider*,
-        void (DataTypeInfoProvider::*)(const protocol::GetDataTypeInfo::Request&,
-                                       protocol::GetDataTypeInfo::Response&)> GetDataTypeInfoCallback;
+                         void (DataTypeInfoProvider::*)(const protocol::GetDataTypeInfo::Request&,
+                                                        protocol::GetDataTypeInfo::Response&)> GetDataTypeInfoCallback;
 
     ServiceServer<protocol::ComputeAggregateTypeSignature, ComputeAggregateTypeSignatureCallback> cats_srv_;
     ServiceServer<protocol::GetDataTypeInfo, GetDataTypeInfoCallback> gdti_srv_;
@@ -39,8 +39,8 @@ class DataTypeInfoProvider : Noncopyable
 
 public:
     DataTypeInfoProvider(INode& node)
-    : cats_srv_(node)
-    , gdti_srv_(node)
+        : cats_srv_(node)
+        , gdti_srv_(node)
     { }
 
     int start();
diff --git a/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp b/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp
index a193a8de77..d968894619 100644
--- a/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp
+++ b/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp
@@ -26,8 +26,8 @@ class GlobalTimeSyncMaster : protected LoopbackFrameListenerBase
 
     public:
         IfaceMaster(INode& node, uint8_t iface_index)
-        : pub_(node)
-        , iface_index_(iface_index)
+            : pub_(node)
+            , iface_index_(iface_index)
         {
             assert(iface_index < MaxCanIfaces);
         }
@@ -48,9 +48,9 @@ class GlobalTimeSyncMaster : protected LoopbackFrameListenerBase
 
 public:
     GlobalTimeSyncMaster(INode& node)
-    : LoopbackFrameListenerBase(node.getDispatcher())
-    , node_(node)
-    , initialized_(false)
+        : LoopbackFrameListenerBase(node.getDispatcher())
+        , node_(node)
+        , initialized_(false)
     { }
 
     int init();
diff --git a/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp b/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp
index ae1128205b..303fb40b48 100644
--- a/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp
+++ b/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp
@@ -14,7 +14,8 @@ namespace uavcan
 class GlobalTimeSyncSlave : Noncopyable
 {
     typedef MethodBinder<GlobalTimeSyncSlave*,
-        void (GlobalTimeSyncSlave::*)(const ReceivedDataStructure<protocol::GlobalTimeSync>&)> GlobalTimeSyncCallback;
+                         void (GlobalTimeSyncSlave::*)(const ReceivedDataStructure<protocol::GlobalTimeSync>&)>
+        GlobalTimeSyncCallback;
 
     // Static buffers are explicitly disabled because time should never be unicasted.
     Subscriber<protocol::GlobalTimeSync, GlobalTimeSyncCallback, 2, 0> sub_;
@@ -39,9 +40,9 @@ class GlobalTimeSyncSlave : Noncopyable
 
 public:
     GlobalTimeSyncSlave(INode& node)
-    : sub_(node)
-    , state_(Update)
-    , prev_iface_index_(0xFF)
+        : sub_(node)
+        , state_(Update)
+        , prev_iface_index_(0xFF)
     { }
 
     int start();
diff --git a/libuavcan/include/uavcan/protocol/logger.hpp b/libuavcan/include/uavcan/protocol/logger.hpp
index ddd896557e..7f82687e0e 100644
--- a/libuavcan/include/uavcan/protocol/logger.hpp
+++ b/libuavcan/include/uavcan/protocol/logger.hpp
@@ -41,8 +41,8 @@ private:
 
 public:
     Logger(INode& node)
-    : logmsg_pub_(node)
-    , external_sink_(NULL)
+        : logmsg_pub_(node)
+        , external_sink_(NULL)
     {
         level_ = protocol::debug::LogLevel::ERROR;
         setTxTimeout(MonotonicDuration::fromMSec(DefaultTxTimeoutMs));
diff --git a/libuavcan/include/uavcan/protocol/node_status_provider.hpp b/libuavcan/include/uavcan/protocol/node_status_provider.hpp
index 51d49b2aef..c5a61387a0 100644
--- a/libuavcan/include/uavcan/protocol/node_status_provider.hpp
+++ b/libuavcan/include/uavcan/protocol/node_status_provider.hpp
@@ -19,11 +19,11 @@ namespace uavcan
 
 class NodeStatusProvider : private Timer
 {
-    typedef MethodBinder<NodeStatusProvider*, void(NodeStatusProvider::*)(const protocol::GlobalDiscoveryRequest&)>
+    typedef MethodBinder<NodeStatusProvider*, void (NodeStatusProvider::*)(const protocol::GlobalDiscoveryRequest&)>
         GlobalDiscoveryRequestCallback;
     typedef MethodBinder<NodeStatusProvider*,
-        void(NodeStatusProvider::*)(const protocol::GetNodeInfo::Request&,
-                                    protocol::GetNodeInfo::Response&)> GetNodeInfoCallback;
+                         void (NodeStatusProvider::*)(const protocol::GetNodeInfo::Request&,
+                                                      protocol::GetNodeInfo::Response&)> GetNodeInfoCallback;
 
     const MonotonicTime creation_timestamp_;
 
@@ -46,11 +46,11 @@ class NodeStatusProvider : private Timer
 
 public:
     NodeStatusProvider(INode& node)
-    : Timer(node)
-    , creation_timestamp_(node.getMonotonicTime())
-    , node_status_pub_(node)
-    , gdr_sub_(node)
-    , gni_srv_(node)
+        : Timer(node)
+        , creation_timestamp_(node.getMonotonicTime())
+        , node_status_pub_(node)
+        , gdr_sub_(node)
+        , gni_srv_(node)
     {
         assert(!creation_timestamp_.isZero());
 
diff --git a/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp b/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp
index 793517fcee..1529f6461f 100644
--- a/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp
+++ b/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp
@@ -22,8 +22,8 @@ class PanicBroadcaster : private Timer
 
 public:
     PanicBroadcaster(INode& node)
-    : Timer(node)
-    , pub_(node)
+        : Timer(node)
+        , pub_(node)
     {
         pub_.setTxTimeout(MonotonicDuration::fromMSec(protocol::Panic::BROADCASTING_INTERVAL_MS - 10));
     }
diff --git a/libuavcan/include/uavcan/protocol/panic_listener.hpp b/libuavcan/include/uavcan/protocol/panic_listener.hpp
index 9ca604a8b5..a57189b29b 100644
--- a/libuavcan/include/uavcan/protocol/panic_listener.hpp
+++ b/libuavcan/include/uavcan/protocol/panic_listener.hpp
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <cassert>
+#include <uavcan/debug.hpp>
 #include <uavcan/node/subscriber.hpp>
 #include <uavcan/util/method_binder.hpp>
 #include <uavcan/protocol/Panic.hpp>
@@ -17,10 +19,10 @@ namespace uavcan
  *   void (const protocol::Panic&)
  * The listener can be stopped from the callback.
  */
-template <typename Callback = void(*)(const ReceivedDataStructure<protocol::Panic>&)>
+template <typename Callback = void (*)(const ReceivedDataStructure<protocol::Panic>&)>
 class PanicListener : Noncopyable
 {
-    typedef MethodBinder<PanicListener*, void(PanicListener::*)(const ReceivedDataStructure<protocol::Panic>&)>
+    typedef MethodBinder<PanicListener*, void (PanicListener::*)(const ReceivedDataStructure<protocol::Panic>&)>
         PanicMsgCallback;
 
     Subscriber<protocol::Panic, PanicMsgCallback> sub_;
@@ -73,9 +75,9 @@ class PanicListener : Noncopyable
 
 public:
     PanicListener(INode& node)
-    : sub_(node)
-    , callback_()
-    , num_subsequent_msgs_(0)
+        : sub_(node)
+        , callback_()
+        , num_subsequent_msgs_(0)
     { }
 
     int start(const Callback& callback)
diff --git a/libuavcan/include/uavcan/protocol/restart_request_server.hpp b/libuavcan/include/uavcan/protocol/restart_request_server.hpp
index be7d9e8407..fae1eb3c89 100644
--- a/libuavcan/include/uavcan/protocol/restart_request_server.hpp
+++ b/libuavcan/include/uavcan/protocol/restart_request_server.hpp
@@ -22,8 +22,8 @@ public:
 class RestartRequestServer : Noncopyable
 {
     typedef MethodBinder<const RestartRequestServer*,
-        void(RestartRequestServer::*)(const ReceivedDataStructure<protocol::RestartNode::Request>&,
-            protocol::RestartNode::Response&) const> RestartNodeCallback;
+                         void (RestartRequestServer::*)(const ReceivedDataStructure<protocol::RestartNode::Request>&,
+                                                        protocol::RestartNode::Response&) const> RestartNodeCallback;
 
     ServiceServer<protocol::RestartNode, RestartNodeCallback> srv_;
     IRestartRequestHandler* handler_;
@@ -33,8 +33,8 @@ class RestartRequestServer : Noncopyable
 
 public:
     RestartRequestServer(INode& node)
-    : srv_(node)
-    , handler_(NULL)
+        : srv_(node)
+        , handler_(NULL)
     { }
 
     IRestartRequestHandler* getHandler() const { return handler_; }
diff --git a/libuavcan/include/uavcan/time.hpp b/libuavcan/include/uavcan/time.hpp
index 7a06a2726e..9b7c1af440 100644
--- a/libuavcan/include/uavcan/time.hpp
+++ b/libuavcan/include/uavcan/time.hpp
@@ -23,7 +23,7 @@ class DurationBase
 
 public:
     DurationBase()
-    : usec_(0)
+        : usec_(0)
     {
         StaticAssert<(sizeof(D) == 8)>::check();
     }
@@ -55,17 +55,17 @@ public:
     bool operator<=(const D& r) const { return usec_ <= r.usec_; }
     bool operator>=(const D& r) const { return usec_ >= r.usec_; }
 
-    D operator+(const D &r) const { return fromUSec(usec_ + r.usec_); } // TODO: overflow check
-    D operator-(const D &r) const { return fromUSec(usec_ - r.usec_); } // ditto
+    D operator+(const D& r) const { return fromUSec(usec_ + r.usec_); } // TODO: overflow check
+    D operator-(const D& r) const { return fromUSec(usec_ - r.usec_); } // ditto
 
     D operator-() const { return fromUSec(-usec_); }
 
-    D& operator+=(const D &r)
+    D& operator+=(const D& r)
     {
         *this = *this + r;
         return *static_cast<D*>(this);
     }
-    D& operator-=(const D &r)
+    D& operator-=(const D& r)
     {
         *this = *this - r;
         return *static_cast<D*>(this);
@@ -92,7 +92,7 @@ class TimeBase
 
 public:
     TimeBase()
-    : usec_(0)
+        : usec_(0)
     {
         StaticAssert<(sizeof(T) == 8)>::check();
         StaticAssert<(sizeof(D) == 8)>::check();
@@ -126,12 +126,16 @@ public:
         if (r.isNegative())
         {
             if (uint64_t(r.getAbs().toUSec()) > usec_)
+            {
                 return fromUSec(0);
+            }
         }
         else
         {
             if (uint64_t(usec_ + r.toUSec()) < usec_)
+            {
                 return fromUSec(std::numeric_limits<uint64_t>::max());
+            }
         }
         return fromUSec(usec_ + r.toUSec());
     }
@@ -202,7 +206,9 @@ inline Stream& operator<<(Stream& s, DurationBase<D> d)
     char buf[8];
     std::snprintf(buf, sizeof(buf), "%06lu", static_cast<unsigned long>(std::abs(d.toUSec() % 1000000L)));
     if (d.isNegative())
+    {
         s << '-';
+    }
     s << std::abs(d.toUSec() / 1000000L) << '.' << buf;
     return s;
 }
diff --git a/libuavcan/include/uavcan/transport/can_io.hpp b/libuavcan/include/uavcan/transport/can_io.hpp
index e3798ea3fe..c162566a37 100644
--- a/libuavcan/include/uavcan/transport/can_io.hpp
+++ b/libuavcan/include/uavcan/transport/can_io.hpp
@@ -27,7 +27,7 @@ struct CanRxFrame : public CanFrame
     uint8_t iface_index;
 
     CanRxFrame()
-    : iface_index(0)
+        : iface_index(0)
     { }
 
     std::string toString(StringRepresentation mode = StrTight) const;
@@ -47,10 +47,10 @@ public:
         CanIOFlags flags;
 
         Entry(const CanFrame& frame, MonotonicTime deadline, Qos qos, CanIOFlags flags)
-        : deadline(deadline)
-        , frame(frame)
-        , qos(uint8_t(qos))
-        , flags(flags)
+            : deadline(deadline)
+            , frame(frame)
+            , qos(uint8_t(qos))
+            , flags(flags)
         {
             assert(qos == Volatile || qos == Persistent);
             IsDynamicallyAllocatable<Entry>::check();
@@ -90,15 +90,15 @@ private:
 
 public:
     CanTxQueue()
-    : allocator_(NULL)
-    , sysclock_(NULL)
-    , rejected_frames_cnt_(0)
+        : allocator_(NULL)
+        , sysclock_(NULL)
+        , rejected_frames_cnt_(0)
     { }
 
     CanTxQueue(IAllocator* allocator, ISystemClock* sysclock)
-    : allocator_(allocator)
-    , sysclock_(sysclock)
-    , rejected_frames_cnt_(0)
+        : allocator_(allocator)
+        , sysclock_(sysclock)
+        , rejected_frames_cnt_(0)
     { }
 
     ~CanTxQueue();
@@ -133,8 +133,8 @@ class CanIOManager : Noncopyable
 
 public:
     CanIOManager(ICanDriver& driver, IAllocator& allocator, ISystemClock& sysclock)
-    : driver_(driver)
-    , sysclock_(sysclock)
+        : driver_(driver)
+        , sysclock_(sysclock)
     {
         assert(driver.getNumIfaces() <= MaxCanIfaces);
         // We can't initialize member array with non-default constructors in C++03
diff --git a/libuavcan/include/uavcan/transport/crc.hpp b/libuavcan/include/uavcan/transport/crc.hpp
index e0299a5396..b6575238cc 100644
--- a/libuavcan/include/uavcan/transport/crc.hpp
+++ b/libuavcan/include/uavcan/transport/crc.hpp
@@ -32,7 +32,7 @@ public:
     enum { NumBytes = 2 };
 
     TransferCRC()
-    : value_(0xFFFF)
+        : value_(0xFFFF)
     { }
 
     void add(uint8_t byte)
@@ -44,7 +44,9 @@ public:
     {
         assert(bytes);
         while (len--)
+        {
             add(*bytes++);
+        }
     }
 
     uint16_t get() const { return value_; }
diff --git a/libuavcan/include/uavcan/transport/dispatcher.hpp b/libuavcan/include/uavcan/transport/dispatcher.hpp
index bb90b1e1a9..c10a7e1118 100644
--- a/libuavcan/include/uavcan/transport/dispatcher.hpp
+++ b/libuavcan/include/uavcan/transport/dispatcher.hpp
@@ -22,7 +22,7 @@ class LoopbackFrameListenerBase : public LinkedListNode<LoopbackFrameListenerBas
 
 protected:
     LoopbackFrameListenerBase(Dispatcher& dispatcher)
-    : dispatcher_(dispatcher)
+        : dispatcher_(dispatcher)
     { }
 
     virtual ~LoopbackFrameListenerBase() { stopListening(); }
@@ -99,9 +99,9 @@ class Dispatcher : Noncopyable
 
 public:
     Dispatcher(ICanDriver& driver, IAllocator& allocator, ISystemClock& sysclock, IOutgoingTransferRegistry& otr)
-    : canio_(driver, allocator, sysclock)
-    , sysclock_(sysclock)
-    , outgoing_transfer_reg_(otr)
+        : canio_(driver, allocator, sysclock)
+        , sysclock_(sysclock)
+        , outgoing_transfer_reg_(otr)
     { }
 
     int spin(MonotonicTime deadline);
diff --git a/libuavcan/include/uavcan/transport/frame.hpp b/libuavcan/include/uavcan/transport/frame.hpp
index 4506275a73..faee36333a 100644
--- a/libuavcan/include/uavcan/transport/frame.hpp
+++ b/libuavcan/include/uavcan/transport/frame.hpp
@@ -32,23 +32,23 @@ public:
     enum { MaxIndex = 62 };        // 63 (or 0b111111) is reserved
 
     Frame()
-    : transfer_type_(TransferType(NumTransferTypes))  // That is invalid value
-    , payload_len_(0)
-    , frame_index_(0)
-    , transfer_id_(0)
-    , last_frame_(false)
+        : transfer_type_(TransferType(NumTransferTypes)) // That is invalid value
+        , payload_len_(0)
+        , frame_index_(0)
+        , transfer_id_(0)
+        , last_frame_(false)
     { }
 
     Frame(DataTypeID data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
           uint_fast8_t frame_index, TransferID transfer_id, bool last_frame = false)
-    : transfer_type_(transfer_type)
-    , data_type_id_(data_type_id)
-    , payload_len_(0)
-    , src_node_id_(src_node_id)
-    , dst_node_id_(dst_node_id)
-    , frame_index_(frame_index)
-    , transfer_id_(transfer_id)
-    , last_frame_(last_frame)
+        : transfer_type_(transfer_type)
+        , data_type_id_(data_type_id)
+        , payload_len_(0)
+        , src_node_id_(src_node_id)
+        , dst_node_id_(dst_node_id)
+        , frame_index_(frame_index)
+        , transfer_id_(transfer_id)
+        , last_frame_(last_frame)
     {
         assert((transfer_type == TransferTypeMessageBroadcast) == dst_node_id.isBroadcast());
         assert(data_type_id.isValid());
@@ -95,13 +95,13 @@ class RxFrame : public Frame
 
 public:
     RxFrame()
-    : iface_index_(0)
+        : iface_index_(0)
     { }
 
     RxFrame(const Frame& frame, MonotonicTime ts_mono, UtcTime ts_utc, uint8_t iface_index)
-    : ts_mono_(ts_mono)
-    , ts_utc_(ts_utc)
-    , iface_index_(iface_index)
+        : ts_mono_(ts_mono)
+        , ts_utc_(ts_utc)
+        , iface_index_(iface_index)
     {
         *static_cast<Frame*>(this) = frame;
     }
diff --git a/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp b/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp
index f3a399ead5..481116b2f8 100644
--- a/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp
+++ b/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp
@@ -25,13 +25,13 @@ class OutgoingTransferRegistryKey
 
 public:
     OutgoingTransferRegistryKey()
-    : transfer_type_(0xFF)
+        : transfer_type_(0xFF)
     { }
 
     OutgoingTransferRegistryKey(DataTypeID data_type_id, TransferType transfer_type, NodeID destination_node_id)
-    : data_type_id_(data_type_id)
-    , transfer_type_(transfer_type)
-    , destination_node_id_(destination_node_id)
+        : data_type_id_(data_type_id)
+        , transfer_type_(transfer_type)
+        , destination_node_id_(destination_node_id)
     {
         assert((transfer_type == TransferTypeMessageBroadcast) == destination_node_id.isBroadcast());
 
@@ -56,8 +56,8 @@ public:
     {
         std::ostringstream os;
         os << "dtid=" << int(data_type_id_.get())
-            << " tt=" << int(transfer_type_)
-            << " dnid=" << int(destination_node_id_.get());
+           << " tt=" << int(transfer_type_)
+           << " dnid=" << int(destination_node_id_.get());
         return os.str();
     }
 };
@@ -77,13 +77,13 @@ public:
 template <int NumStaticEntries>
 class OutgoingTransferRegistry : public IOutgoingTransferRegistry, Noncopyable
 {
-UAVCAN_PACKED_BEGIN
+    UAVCAN_PACKED_BEGIN
     struct Value
     {
         MonotonicTime deadline;
         TransferID tid;
     };
-UAVCAN_PACKED_END
+    UAVCAN_PACKED_END
 
     class DeadlineExpiredPredicate
     {
@@ -91,7 +91,7 @@ UAVCAN_PACKED_END
 
     public:
         DeadlineExpiredPredicate(MonotonicTime ts)
-        : ts_(ts)
+            : ts_(ts)
         { }
 
         bool operator()(const OutgoingTransferRegistryKey& key, const Value& value) const
@@ -115,8 +115,8 @@ UAVCAN_PACKED_END
 
     public:
         ExistenceCheckingPredicate(DataTypeID dtid, TransferType tt)
-        : dtid_(dtid)
-        , tt_(tt)
+            : dtid_(dtid)
+            , tt_(tt)
         { }
 
         bool operator()(const OutgoingTransferRegistryKey& key, const Value&) const
@@ -129,7 +129,7 @@ UAVCAN_PACKED_END
 
 public:
     OutgoingTransferRegistry(IAllocator& allocator)
-    : map_(allocator)
+        : map_(allocator)
     { }
 
     TransferID* accessOrCreate(const OutgoingTransferRegistryKey& key, MonotonicTime new_deadline)
@@ -140,7 +140,9 @@ public:
         {
             p = map_.insert(key, Value());
             if (p == NULL)
+            {
                 return NULL;
+            }
             UAVCAN_TRACE("OutgoingTransferRegistry", "Created %s", key.toString().c_str());
         }
         p->deadline = new_deadline;
diff --git a/libuavcan/include/uavcan/transport/transfer.hpp b/libuavcan/include/uavcan/transport/transfer.hpp
index 1348e1c8da..d73ee19011 100644
--- a/libuavcan/include/uavcan/transport/transfer.hpp
+++ b/libuavcan/include/uavcan/transport/transfer.hpp
@@ -33,11 +33,11 @@ public:
     enum { Max = (1 << BitLen) - 1 };
 
     TransferID()
-    : value_(0)
+        : value_(0)
     { }
 
     TransferID(uint8_t value)    // implicit
-    : value_(value)
+        : value_(value)
     {
         value_ &= Max;
         assert(value == value_);
@@ -82,16 +82,16 @@ public:
     NodeID() : value_(ValueInvalid) { }
 
     NodeID(uint8_t value)
-    : value_(value)
+        : value_(value)
     {
         assert(isValid());
     }
 
     uint8_t get() const { return value_; }
 
-    bool isValid() const     { return value_ <= Max; }
+    bool isValid()     const { return value_ <= Max; }
     bool isBroadcast() const { return value_ == ValueBroadcast; }
-    bool isUnicast() const   { return (value_ <= Max) && (value_ != ValueBroadcast); }
+    bool isUnicast()   const { return (value_ <= Max) && (value_ != ValueBroadcast); }
 
     bool operator!=(NodeID rhs) const { return !operator==(rhs); }
     bool operator==(NodeID rhs) const { return value_ == rhs.value_; }
diff --git a/libuavcan/include/uavcan/transport/transfer_buffer.hpp b/libuavcan/include/uavcan/transport/transfer_buffer.hpp
index 66afe08562..1226167b19 100644
--- a/libuavcan/include/uavcan/transport/transfer_buffer.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_buffer.hpp
@@ -38,14 +38,14 @@ class TransferBufferManagerKey
 
 public:
     TransferBufferManagerKey()
-    : transfer_type_(TransferType(0))
+        : transfer_type_(TransferType(0))
     {
         assert(isEmpty());
     }
 
     TransferBufferManagerKey(NodeID node_id, TransferType ttype)
-    : node_id_(node_id)
-    , transfer_type_(ttype)
+        : node_id_(node_id)
+        , transfer_type_(ttype)
     {
         assert(!isEmpty());
     }
@@ -77,7 +77,7 @@ public:
     TransferBufferManagerEntry() { }
 
     TransferBufferManagerEntry(const TransferBufferManagerKey& key)
-    : key_(key)
+        : key_(key)
     { }
 
     const TransferBufferManagerKey& getKey() const { return key_; }
@@ -95,8 +95,9 @@ public:
  * reset() call releases all memory blocks.
  * Supports unordered write operations - from higher to lower offsets
  */
-class DynamicTransferBufferManagerEntry : public TransferBufferManagerEntry,
-                                          public LinkedListNode<DynamicTransferBufferManagerEntry>
+class DynamicTransferBufferManagerEntry
+    : public TransferBufferManagerEntry
+    , public LinkedListNode<DynamicTransferBufferManagerEntry>
 {
     struct Block : LinkedListNode<Block>
     {
@@ -121,9 +122,9 @@ class DynamicTransferBufferManagerEntry : public TransferBufferManagerEntry,
 
 public:
     DynamicTransferBufferManagerEntry(IAllocator& allocator, unsigned int max_size)
-    : allocator_(allocator)
-    , max_write_pos_(0)
-    , max_size_(max_size)
+        : allocator_(allocator)
+        , max_write_pos_(0)
+        , max_size_(max_size)
     {
         StaticAssert<(Block::Size > 8)>::check();
         IsDynamicallyAllocatable<Block>::check();
@@ -154,7 +155,7 @@ class StaticTransferBuffer : public ITransferBuffer
 
 public:
     StaticTransferBuffer()
-    : max_write_pos_(0)
+        : max_write_pos_(0)
     {
         StaticAssert<(Size > 0)>::check();
         std::fill(data_, data_ + Size, 0);
@@ -168,9 +169,13 @@ public:
             return -1;
         }
         if (offset >= max_write_pos_)
+        {
             return 0;
+        }
         if ((offset + len) > max_write_pos_)
+        {
             len = max_write_pos_ - offset;
+        }
         assert((offset + len) <= max_write_pos_);
         std::copy(data_ + offset, data_ + offset + len, data);
         return len;
@@ -184,9 +189,13 @@ public:
             return -1;
         }
         if (offset >= Size)
+        {
             return 0;
+        }
         if ((offset + len) > Size)
+        {
             len = Size - offset;
+        }
         assert((offset + len) <= Size);
         std::copy(data, data + len, data_ + offset);
         max_write_pos_ = std::max(offset + len, max_write_pos_);
@@ -250,7 +259,9 @@ public:
         }
         buf_.setMaxWritePos(res);
         if (res < int(Size))
+        {
             return true;
+        }
 
         // Now we need to make sure that all data can fit the storage
         uint8_t dummy = 0;
@@ -285,8 +296,8 @@ class TransferBufferAccessor
 
 public:
     TransferBufferAccessor(ITransferBufferManager& bufmgr, TransferBufferManagerKey key)
-    : bufmgr_(bufmgr)
-    , key_(key)
+        : bufmgr_(bufmgr)
+        , key_(key)
     {
         assert(!key.isEmpty());
     }
@@ -312,7 +323,9 @@ class TransferBufferManager : public ITransferBufferManager, Noncopyable
         for (unsigned int i = 0; i < NumStaticBufs; i++)
         {
             if (static_buffers_[i].getKey() == key)
+            {
                 return static_buffers_ + i;
+            }
         }
         return NULL;
     }
@@ -324,7 +337,9 @@ class TransferBufferManager : public ITransferBufferManager, Noncopyable
         {
             assert(!dyn->isEmpty());
             if (dyn->getKey() == key)
+            {
                 return dyn;
+            }
             dyn = dyn->getNextListNode();
         }
         return NULL;
@@ -336,7 +351,9 @@ class TransferBufferManager : public ITransferBufferManager, Noncopyable
         {
             StaticBufferType* const sb = findFirstStatic(TransferBufferManagerKey());
             if (sb == NULL)
+            {
                 break;
+            }
             DynamicTransferBufferManagerEntry* dyn = dynamic_buffers_.get();
             assert(dyn);
             assert(!dyn->isEmpty());
@@ -354,7 +371,7 @@ class TransferBufferManager : public ITransferBufferManager, Noncopyable
                  * This should never happen during normal operation because dynamic buffers are limited in growth.
                  */
                 UAVCAN_TRACE("TransferBufferManager", "Storage optimization: MIGRATION FAILURE %s MAXSIZE %u",
-                    dyn->getKey().toString().c_str(), MaxBufSize);
+                             dyn->getKey().toString().c_str(), MaxBufSize);
                 assert(0);
                 sb->reset();
                 break;
@@ -364,7 +381,7 @@ class TransferBufferManager : public ITransferBufferManager, Noncopyable
 
 public:
     TransferBufferManager(IAllocator& allocator)
-    : allocator_(allocator)
+        : allocator_(allocator)
     {
         StaticAssert<(MaxBufSize > 0)>::check();
         StaticAssert<(NumStaticBufs > 0)>::check();
@@ -391,7 +408,9 @@ public:
         }
         TransferBufferManagerEntry* tbme = findFirstStatic(key);
         if (tbme)
+        {
             return tbme;
+        }
         return findFirstDynamic(key);
     }
 
@@ -407,10 +426,13 @@ public:
         TransferBufferManagerEntry* tbme = findFirstStatic(TransferBufferManagerKey());
         if (tbme == NULL)
         {
-            DynamicTransferBufferManagerEntry* dyn = DynamicTransferBufferManagerEntry::instantiate(allocator_, MaxBufSize);
+            DynamicTransferBufferManagerEntry* dyn =
+                DynamicTransferBufferManagerEntry::instantiate(allocator_, MaxBufSize);
             tbme = dyn;
             if (dyn == NULL)
+            {
                 return NULL;     // Epic fail.
+            }
             dynamic_buffers_.insert(dyn);
             UAVCAN_TRACE("TransferBufferManager", "Dynamic buffer created [st=%u, dyn=%u], %s",
                          getNumStaticBuffers(), getNumDynamicBuffers(), key.toString().c_str());
@@ -461,7 +483,9 @@ public:
         for (unsigned int i = 0; i < NumStaticBufs; i++)
         {
             if (!static_buffers_[i].isEmpty())
+            {
                 res++;
+            }
         }
         return res;
     }
diff --git a/libuavcan/include/uavcan/transport/transfer_listener.hpp b/libuavcan/include/uavcan/transport/transfer_listener.hpp
index 1b241d3a23..f8183c5734 100644
--- a/libuavcan/include/uavcan/transport/transfer_listener.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_listener.hpp
@@ -34,12 +34,12 @@ class IncomingTransfer : public ITransferBuffer
 protected:
     IncomingTransfer(MonotonicTime ts_mono, UtcTime ts_utc, TransferType transfer_type,
                      TransferID transfer_id, NodeID source_node_id, uint8_t iface_index)
-    : ts_mono_(ts_mono)
-    , ts_utc_(ts_utc)
-    , transfer_type_(transfer_type)
-    , transfer_id_(transfer_id)
-    , src_node_id_(source_node_id)
-    , iface_index_(iface_index)
+        : ts_mono_(ts_mono)
+        , ts_utc_(ts_utc)
+        , transfer_type_(transfer_type)
+        , transfer_id_(transfer_id)
+        , src_node_id_(source_node_id)
+        , iface_index_(iface_index)
     { }
 
 public:
@@ -93,8 +93,8 @@ class TransferListenerBase : public LinkedListNode<TransferListenerBase>, Noncop
 
 protected:
     TransferListenerBase(const DataTypeDescriptor& data_type)
-    : data_type_(data_type)
-    , crc_base_(data_type.getSignature().toTransferCRC())
+        : data_type_(data_type)
+        , crc_base_(data_type.getSignature().toTransferCRC())
     { }
 
     virtual ~TransferListenerBase() { }
@@ -127,8 +127,8 @@ class TransferListener : public TransferListenerBase
 
     public:
         TimedOutReceiverPredicate(MonotonicTime ts, BufferManager& bufmgr)
-        : ts_(ts)
-        , bufmgr_(bufmgr)
+            : ts_(ts)
+            , bufmgr_(bufmgr)
         { }
 
         bool operator()(const TransferBufferManagerKey& key, const TransferReceiver& value) const
@@ -164,7 +164,9 @@ protected:
         if (recv == NULL)
         {
             if (!frame.isFirst())
+            {
                 return;
+            }
 
             TransferReceiver new_recv;
             recv = receivers_.insert(key, new_recv);
@@ -180,9 +182,9 @@ protected:
 
 public:
     TransferListener(const DataTypeDescriptor& data_type, IAllocator& allocator)
-    : TransferListenerBase(data_type)
-    , bufmgr_(allocator)
-    , receivers_(allocator)
+        : TransferListenerBase(data_type)
+        , bufmgr_(allocator)
+        , receivers_(allocator)
     {
         StaticAssert<(NumStaticReceivers >= NumStaticBufs)>::check();  // Otherwise it would be meaningless
     }
@@ -212,8 +214,8 @@ public:
         }
 
         ExpectedResponseParams(NodeID src_node_id, TransferID transfer_id)
-        : src_node_id(src_node_id)
-        , transfer_id(transfer_id)
+            : src_node_id(src_node_id)
+            , transfer_id(transfer_id)
         {
             assert(src_node_id.isUnicast());
         }
@@ -245,7 +247,7 @@ private:
 
 public:
     ServiceResponseTransferListener(const DataTypeDescriptor& data_type, IAllocator& allocator)
-    : BaseType(data_type, allocator)
+        : BaseType(data_type, allocator)
     { }
 
     void setExpectedResponseParams(const ExpectedResponseParams& erp)
diff --git a/libuavcan/include/uavcan/transport/transfer_receiver.hpp b/libuavcan/include/uavcan/transport/transfer_receiver.hpp
index 73d118f309..a8817e175e 100644
--- a/libuavcan/include/uavcan/transport/transfer_receiver.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_receiver.hpp
@@ -55,11 +55,11 @@ private:
 
 public:
     TransferReceiver()
-    : transfer_interval_usec_(DefaultTransferIntervalUSec)
-    , this_transfer_crc_(0)
-    , buffer_write_pos_(0)
-    , iface_index_(IfaceIndexNotSet)
-    , next_frame_index_(0)
+        : transfer_interval_usec_(DefaultTransferIntervalUSec)
+        , this_transfer_crc_(0)
+        , buffer_write_pos_(0)
+        , iface_index_(IfaceIndexNotSet)
+        , next_frame_index_(0)
     { }
 
     bool isTimedOut(MonotonicTime current_ts) const;
diff --git a/libuavcan/include/uavcan/transport/transfer_sender.hpp b/libuavcan/include/uavcan/transport/transfer_sender.hpp
index baddb65462..003e352ba7 100644
--- a/libuavcan/include/uavcan/transport/transfer_sender.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_sender.hpp
@@ -35,13 +35,13 @@ public:
 
     TransferSender(Dispatcher& dispatcher, const DataTypeDescriptor& data_type, CanTxQueue::Qos qos,
                    MonotonicDuration max_transfer_interval = getDefaultMaxTransferInterval())
-    : max_transfer_interval_(max_transfer_interval)
-    , data_type_(data_type)
-    , qos_(qos)
-    , crc_base_(data_type.getSignature().toTransferCRC())
-    , flags_(CanIOFlags(0))
-    , iface_mask_(AllIfacesMask)
-    , dispatcher_(dispatcher)
+        : max_transfer_interval_(max_transfer_interval)
+        , data_type_(data_type)
+        , qos_(qos)
+        , crc_base_(data_type.getSignature().toTransferCRC())
+        , flags_(CanIOFlags(0))
+        , iface_mask_(AllIfacesMask)
+        , dispatcher_(dispatcher)
     { }
 
     CanIOFlags getCanIOFlags() const { return flags_; }
diff --git a/libuavcan/include/uavcan/util/compile_time.hpp b/libuavcan/include/uavcan/util/compile_time.hpp
index f1c9284a13..1cbcb19325 100644
--- a/libuavcan/include/uavcan/util/compile_time.hpp
+++ b/libuavcan/include/uavcan/util/compile_time.hpp
@@ -23,7 +23,7 @@ struct StaticAssert<true>
  * Usage:
  *  ShowIntegerAsError<integer_expression>::foobar();
  */
-template<long N> struct ShowIntegerAsError;
+template <long N> struct ShowIntegerAsError;
 
 /**
  * Prevents copying when inherited
@@ -39,15 +39,21 @@ protected:
 /**
  * Compile time conditions
  */
-template<bool B, typename T = void>
+template <bool B, typename T = void>
 struct EnableIf { };
 
-template<typename T>
-struct EnableIf<true, T> { typedef T Type; };
+template <typename T>
+struct EnableIf<true, T>
+{
+    typedef T Type;
+};
 
 
-template<typename T, typename R = void>
-struct EnableIfType { typedef R Type; };
+template <typename T, typename R = void>
+struct EnableIfType
+{
+    typedef R Type;
+};
 
 
 template <bool Condition, typename TrueType, typename FalseType>
@@ -68,7 +74,7 @@ struct Select<false, TrueType, FalseType>
 /**
  * Value types
  */
-template<bool> struct BooleanType { };
+template <bool> struct BooleanType { };
 typedef BooleanType<true> TrueType;
 typedef BooleanType<false> FalseType;
 
@@ -102,14 +108,14 @@ template <typename To, typename From>
 To try_implicit_cast(const From& from, const To& default_)
 {
     return TryImplicitCastImpl<From, To>::impl(from, default_,
-        BooleanType<IsImplicitlyConvertibleFromTo<From, To>::Result>());
+                                               BooleanType<IsImplicitlyConvertibleFromTo<From, To>::Result>());
 }
 
 template <typename To, typename From>
 To try_implicit_cast(const From& from)
 {
     return TryImplicitCastImpl<From, To>::impl(from, To(),
-        BooleanType<IsImplicitlyConvertibleFromTo<From, To>::Result>());
+                                               BooleanType<IsImplicitlyConvertibleFromTo<From, To>::Result>());
 }
 
 }
diff --git a/libuavcan/include/uavcan/util/lazy_constructor.hpp b/libuavcan/include/uavcan/util/lazy_constructor.hpp
index 394ab90635..751802917d 100644
--- a/libuavcan/include/uavcan/util/lazy_constructor.hpp
+++ b/libuavcan/include/uavcan/util/lazy_constructor.hpp
@@ -24,13 +24,17 @@ class LazyConstructor
     void ensureConstructed() const
     {
         if (!ptr_)
+        {
             handleFatalError("LazyConstructor<T> is not constructed");
+        }
     }
 
     void ensureNotConstructed() const
     {
         if (ptr_)
+        {
             handleFatalError("LazyConstructor<T> is already constructed");
+        }
     }
 
     template <typename U> struct ParamType { typedef const U& Type; };
@@ -41,17 +45,19 @@ class LazyConstructor
 
 public:
     LazyConstructor()
-    : ptr_(NULL)
+        : ptr_(NULL)
     {
         std::fill(data_, data_ + sizeof(T), 0);
     }
 
     LazyConstructor(const LazyConstructor<T>& rhs)
-    : ptr_(NULL)
+        : ptr_(NULL)
     {
         std::fill(data_, data_ + sizeof(T), 0);
         if (rhs)
+        {
             construct<const T&>(*rhs);  // Invoke copy constructor
+        }
     }
 
     ~LazyConstructor() { destroy(); }
@@ -60,7 +66,9 @@ public:
     {
         destroy();
         if (rhs)
+        {
             construct<const T&>(*rhs);  // Invoke copy constructor
+        }
         return *this;
     }
 
@@ -77,7 +85,9 @@ public:
     void destroy()
     {
         if (ptr_)
+        {
             ptr_->~T();
+        }
         ptr_ = NULL;
         std::fill(data_, data_ + sizeof(T), 0);
     }
diff --git a/libuavcan/include/uavcan/util/method_binder.hpp b/libuavcan/include/uavcan/util/method_binder.hpp
index 52d00ca5fe..031a2261e8 100644
--- a/libuavcan/include/uavcan/util/method_binder.hpp
+++ b/libuavcan/include/uavcan/util/method_binder.hpp
@@ -20,18 +20,20 @@ class MethodBinder
     void validateBeforeCall() const
     {
         if (!operator bool())
+        {
             handleFatalError("Null method binder");
+        }
     }
 
 public:
     MethodBinder()
-    : obj_()
-    , fun_()
+        : obj_()
+        , fun_()
     { }
 
     MethodBinder(ObjectPtr o, MemFunPtr f)
-    : obj_(o)
-    , fun_(f)
+        : obj_(o)
+        , fun_(f)
     { }
 
     operator bool() const
diff --git a/libuavcan/src/data_type.cpp b/libuavcan/src/data_type.cpp
index da52f71e5f..736da7ee86 100644
--- a/libuavcan/src/data_type.cpp
+++ b/libuavcan/src/data_type.cpp
@@ -18,7 +18,9 @@ void DataTypeSignature::mixin64(uint64_t x)
 {
     DataTypeSignatureCRC crc = DataTypeSignatureCRC::extend(value_);
     for (int i = 0; i < 64; i += 8)   // LSB first
+    {
         crc.add((x >> i) & 0xFF);
+    }
     value_ = crc.get();
 }
 
@@ -33,7 +35,9 @@ TransferCRC DataTypeSignature::toTransferCRC() const
 {
     TransferCRC tcrc;
     for (int i = 0; i < 64; i += 8)    // LSB first
+    {
         tcrc.add((value_ >> i) & 0xFF);
+    }
     return tcrc;
 }
 
@@ -71,7 +75,7 @@ std::string DataTypeDescriptor::toString() const
 
     std::ostringstream os;
     os << full_name_ << ":" << id_.get() << kindch << ":" << std::hex
-        << std::setfill('0') << std::setw(16) << signature_.get();
+       << std::setfill('0') << std::setw(16) << signature_.get();
     return os.str();
 }
 
diff --git a/libuavcan/src/driver/can.cpp b/libuavcan/src/driver/can.cpp
index efc3b8ad4a..8a71df50db 100644
--- a/libuavcan/src/driver/can.cpp
+++ b/libuavcan/src/driver/can.cpp
@@ -52,17 +52,23 @@ std::string CanFrame::toString(StringRepresentation mode) const
     else
     {
         for (int dlen = 0; dlen < dlc; dlen++)                                 // hex bytes
+        {
             wpos += snprintf(wpos, epos - wpos, " %02x", (unsigned int)data[dlen]);
+        }
 
         while (mode == StrAligned && wpos < buf + ASCII_COLUMN_OFFSET)        // alignment
+        {
             *wpos++ = ' ';
+        }
 
         wpos += snprintf(wpos, epos - wpos, "  \'");                           // ascii
         for (int dlen = 0; dlen < dlc; dlen++)
         {
             uint8_t ch = data[dlen];
             if (ch < 0x20 || ch > 0x7E)
+            {
                 ch = '.';
+            }
             wpos += snprintf(wpos, epos - wpos, "%c", ch);
         }
         wpos += snprintf(wpos, epos - wpos, "\'");
diff --git a/libuavcan/src/marshal/bit_array_copy.cpp b/libuavcan/src/marshal/bit_array_copy.cpp
index e1cc6fd641..83fc639cb1 100644
--- a/libuavcan/src/marshal/bit_array_copy.cpp
+++ b/libuavcan/src/marshal/bit_array_copy.cpp
@@ -15,7 +15,7 @@
     } else {                                                       \
         *dst &= reverse_mask[dst_offset_modulo] |                  \
                 reverse_mask_xor[dst_offset_modulo + src_len + 1]; \
-         c &= reverse_mask[dst_offset_modulo + src_len];           \
+        c &= reverse_mask[dst_offset_modulo + src_len];            \
         src_len = 0;                                               \
     } } while (0)
 
diff --git a/libuavcan/src/marshal/bit_stream.cpp b/libuavcan/src/marshal/bit_stream.cpp
index d765041844..37211a8c5f 100644
--- a/libuavcan/src/marshal/bit_stream.cpp
+++ b/libuavcan/src/marshal/bit_stream.cpp
@@ -38,9 +38,13 @@ int BitStream::write(const uint8_t* bytes, const int bitlen)
      */
     const int write_res = buf_.write(bit_offset_ / 8, tmp, bytelen);
     if (write_res < 0)
+    {
         return write_res;
+    }
     if (write_res < bytelen)
+    {
         return ResultOutOfBuffer;
+    }
 
     bit_offset_ = new_bit_offset;
     return ResultOk;
@@ -55,9 +59,13 @@ int BitStream::read(uint8_t* bytes, const int bitlen)
 
     const int read_res = buf_.read(bit_offset_ / 8, tmp, bytelen);
     if (read_res < 0)
+    {
         return read_res;
+    }
     if (read_res < bytelen)
+    {
         return ResultOutOfBuffer;
+    }
 
     std::fill(bytes, bytes + bitlenToBytelen(bitlen), 0);
     copyBitArray(tmp, bit_offset_ % 8, bitlen, bytes, 0);
@@ -72,14 +80,20 @@ std::string BitStream::toString() const
     {
         uint8_t byte = 0;
         if (1 != buf_.read(offset, &byte, 1))
+        {
             break;
+        }
         for (int i = 7; i >= 0; i--)     // Most significant goes first
+        {
             os << !!(byte & (1 << i));
+        }
         os << " ";
     }
     std::string output = os.str();
     if (output.length())
+    {
         output.erase(output.length() - 1, 1);
+    }
     return output;
 }
 
diff --git a/libuavcan/src/marshal/float_spec.cpp b/libuavcan/src/marshal/float_spec.cpp
index 57b8a0e870..ae1e3983a1 100644
--- a/libuavcan/src/marshal/float_spec.cpp
+++ b/libuavcan/src/marshal/float_spec.cpp
@@ -22,17 +22,27 @@ uint16_t IEEE754Converter::nativeNonIeeeToHalf(float value)
 {
     uint16_t hbits = signbit(value) << 15;
     if (value == 0.0f)
+    {
         return hbits;
+    }
     if (isnanf(value))
+    {
         return hbits | 0x7FFF;
+    }
     if (isinff(value))
+    {
         return hbits | 0x7C00;
+    }
     int exp;
     std::frexp(value, &exp);
     if (exp > 16)
+    {
         return hbits | 0x7C00;
+    }
     if (exp < -13)
+    {
         value = std::ldexp(value, 24);
+    }
     else
     {
         value = std::ldexp(value, 11 - exp);
@@ -50,14 +60,22 @@ float IEEE754Converter::halfToNativeNonIeee(uint16_t value)
     float out;
     int abs = value & 0x7FFF;
     if (abs > 0x7C00)
+    {
         out = std::numeric_limits<float>::has_quiet_NaN ? std::numeric_limits<float>::quiet_NaN() : 0.0f;
+    }
     else if (abs == 0x7C00)
+    {
         out = std::numeric_limits<float>::has_infinity ?
-                std::numeric_limits<float>::infinity() : std::numeric_limits<float>::max();
+              std::numeric_limits<float>::infinity() : std::numeric_limits<float>::max();
+    }
     else if (abs > 0x3FF)
+    {
         out = std::ldexp(static_cast<float>((value & 0x3FF) | 0x400), (abs >> 10) - 25);
+    }
     else
+    {
         out = std::ldexp(static_cast<float>(abs), -24);
+    }
     return (value & 0x8000) ? -out : out;
 }
 
diff --git a/libuavcan/src/node/global_data_type_registry.cpp b/libuavcan/src/node/global_data_type_registry.cpp
index 2f1f7dd0c9..43e5c9c44c 100644
--- a/libuavcan/src/node/global_data_type_registry.cpp
+++ b/libuavcan/src/node/global_data_type_registry.cpp
@@ -35,11 +35,15 @@ GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::remove(Entry* dtd)
         return RegistResultInvalidParams;
     }
     if (isFrozen())
+    {
         return RegistResultFrozen;
+    }
 
     List* list = selectList(dtd->descriptor.getKind());
     if (!list)
+    {
         return RegistResultInvalidParams;
+    }
 
     list->remove(dtd);       // If this call came from regist<>(), that would be enough
     Entry* p = list->get();  // But anyway
@@ -47,7 +51,9 @@ GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::remove(Entry* dtd)
     {
         Entry* const next = p->getNextListNode();
         if (p->descriptor.match(dtd->descriptor.getKind(), dtd->descriptor.getFullName()))
+        {
             list->remove(p);
+        }
         p = next;
     }
     return RegistResultOk;
@@ -61,20 +67,28 @@ GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::registImpl(Entry* d
         return RegistResultInvalidParams;
     }
     if (isFrozen())
+    {
         return RegistResultFrozen;
+    }
 
     List* list = selectList(dtd->descriptor.getKind());
     if (!list)
+    {
         return RegistResultInvalidParams;
+    }
 
     {   // Collision check
         Entry* p = list->get();
         while (p)
         {
             if (p->descriptor.getID() == dtd->descriptor.getID()) // ID collision
+            {
                 return RegistResultCollision;
+            }
             if (!std::strcmp(p->descriptor.getFullName(), dtd->descriptor.getFullName())) // Name collision
+            {
                 return RegistResultCollision;
+            }
             p = p->getNextListNode();
         }
     }
@@ -132,7 +146,9 @@ const DataTypeDescriptor* GlobalDataTypeRegistry::find(DataTypeKind kind, const
     while (p)
     {
         if (p->descriptor.match(kind, name))
+        {
             return &p->descriptor;
+        }
         p = p->getNextListNode();
     }
     return NULL;
@@ -150,7 +166,9 @@ const DataTypeDescriptor* GlobalDataTypeRegistry::find(DataTypeKind kind, DataTy
     while (p)
     {
         if (p->descriptor.match(kind, dtid))
+        {
             return &p->descriptor;
+        }
         p = p->getNextListNode();
     }
     return NULL;
@@ -180,23 +198,31 @@ DataTypeSignature GlobalDataTypeRegistry::computeAggregateSignature(DataTypeKind
         if (inout_id_mask[dtid])
         {
             if (signature_initialized)
+            {
                 signature.extend(desc.getSignature());
+            }
             else
+            {
                 signature = DataTypeSignature(desc.getSignature());
+            }
             signature_initialized = true;
         }
 
         assert(prev_dtid < dtid);  // Making sure that list is ordered properly
         prev_dtid++;
         while (prev_dtid < dtid)
+        {
             inout_id_mask[prev_dtid++] = false; // Erasing bits for missing types
+        }
         assert(prev_dtid == dtid);
 
         p = p->getNextListNode();
     }
     prev_dtid++;
     while (prev_dtid <= DataTypeID::Max)
+    {
         inout_id_mask[prev_dtid++] = false;
+    }
 
     return signature;
 }
diff --git a/libuavcan/src/node/scheduler.cpp b/libuavcan/src/node/scheduler.cpp
index 6937ac1641..2708082b7e 100644
--- a/libuavcan/src/node/scheduler.cpp
+++ b/libuavcan/src/node/scheduler.cpp
@@ -70,11 +70,15 @@ bool DeadlineScheduler::doesExist(const DeadlineHandler* mdh) const
     {
 #if UAVCAN_DEBUG
         if (prev_deadline > p->getDeadline())  // Self check
+        {
             std::abort();
+        }
         prev_deadline = p->getDeadline();
 #endif
         if (p == mdh)
+        {
             return true;
+        }
         p = p->getNextListNode();
     }
     return false;
@@ -86,15 +90,21 @@ MonotonicTime DeadlineScheduler::pollAndGetMonotonicTime(ISystemClock& sysclock)
     {
         DeadlineHandler* const mdh = handlers_.get();
         if (!mdh)
+        {
             return sysclock.getMonotonic();
+        }
 #if UAVCAN_DEBUG
         if (mdh->getNextListNode())      // Order check
+        {
             assert(mdh->getDeadline() <= mdh->getNextListNode()->getDeadline());
+        }
 #endif
 
         const MonotonicTime ts = sysclock.getMonotonic();
         if (ts < mdh->getDeadline())
+        {
             return ts;
+        }
 
         handlers_.remove(mdh);
         mdh->handleDeadline(ts);   // This handler can be re-registered immediately
@@ -107,7 +117,9 @@ MonotonicTime DeadlineScheduler::getEarliestDeadline() const
 {
     const DeadlineHandler* const mdh = handlers_.get();
     if (mdh)
+    {
         return mdh->getDeadline();
+    }
     return MonotonicTime::getMax();
 }
 
@@ -121,7 +133,9 @@ MonotonicTime Scheduler::computeDispatcherSpinDeadline(MonotonicTime spin_deadli
     if (earliest > ts)
     {
         if (ts - earliest > deadline_resolution_)
+        {
             return ts + deadline_resolution_;
+        }
     }
     return earliest;
 }
@@ -146,12 +160,16 @@ int Scheduler::spin(MonotonicTime deadline)
         const MonotonicTime dl = computeDispatcherSpinDeadline(deadline);
         retval = dispatcher_.spin(dl);
         if (retval < 0)
+        {
             break;
+        }
 
         const MonotonicTime ts = deadline_scheduler_.pollAndGetMonotonicTime(getSystemClock());
         pollCleanup(ts, retval);
         if (ts >= deadline)
+        {
             break;
+        }
     }
     return retval;
 }
diff --git a/libuavcan/src/node/timer.cpp b/libuavcan/src/node/timer.cpp
index 93eb0fa822..7b8e115aa8 100644
--- a/libuavcan/src/node/timer.cpp
+++ b/libuavcan/src/node/timer.cpp
@@ -15,7 +15,9 @@ void Timer::handleDeadline(MonotonicTime current)
     const MonotonicTime scheduled_time = getDeadline();
 
     if (period_ < MonotonicDuration::getInfinite())
+    {
         startWithDeadline(scheduled_time + period_);
+    }
 
     // Application can re-register the timer with different params, it's OK
     handleTimerEvent(TimerEvent(scheduled_time, current));
diff --git a/libuavcan/src/protocol/data_type_info_provider.cpp b/libuavcan/src/protocol/data_type_info_provider.cpp
index 5e6d8ec4a5..691853aa22 100644
--- a/libuavcan/src/protocol/data_type_info_provider.cpp
+++ b/libuavcan/src/protocol/data_type_info_provider.cpp
@@ -89,16 +89,20 @@ int DataTypeInfoProvider::start()
     res = cats_srv_.start(
         ComputeAggregateTypeSignatureCallback(this, &DataTypeInfoProvider::handleComputeAggregateTypeSignatureRequest));
     if (res < 0)
+    {
         goto fail;
+    }
 
     res = gdti_srv_.start(GetDataTypeInfoCallback(this, &DataTypeInfoProvider::handleGetDataTypeInfoRequest));
     if (res < 0)
+    {
         goto fail;
+    }
 
     assert(res >= 0);
     return res;
 
-    fail:
+fail:
     assert(res < 0);
     cats_srv_.stop();
     gdti_srv_.stop();
diff --git a/libuavcan/src/protocol/node_status_provider.cpp b/libuavcan/src/protocol/node_status_provider.cpp
index a494b381b9..eef38956a5 100644
--- a/libuavcan/src/protocol/node_status_provider.cpp
+++ b/libuavcan/src/protocol/node_status_provider.cpp
@@ -13,8 +13,8 @@ bool NodeStatusProvider::isNodeInfoInitialized() const
 {
     // Hardware version is not required
     return (node_info_.software_version != protocol::SoftwareVersion()) &&
-        (node_info_.uavcan_version != protocol::SoftwareVersion()) &&
-        (!node_info_.name.empty());
+           (node_info_.uavcan_version != protocol::SoftwareVersion()) &&
+           (!node_info_.name.empty());
 }
 
 int NodeStatusProvider::publish()
@@ -32,7 +32,9 @@ void NodeStatusProvider::publishWithErrorHandling()
 {
     const int res = publish();
     if (res < 0)
+    {
         getNode().registerInternalFailure("NodeStatus publication failed");
+    }
 }
 
 void NodeStatusProvider::handleTimerEvent(const TimerEvent&)
@@ -67,21 +69,27 @@ int NodeStatusProvider::startAndPublish()
 
     res = publish(); // Initial broadcast
     if (res < 0)
+    {
         goto fail;
+    }
 
     res = gdr_sub_.start(GlobalDiscoveryRequestCallback(this, &NodeStatusProvider::handleGlobalDiscoveryRequest));
     if (res < 0)
+    {
         goto fail;
+    }
 
     res = gni_srv_.start(GetNodeInfoCallback(this, &NodeStatusProvider::handleGetNodeInfoRequest));
     if (res < 0)
+    {
         goto fail;
+    }
 
     Timer::startPeriodic(MonotonicDuration::fromMSec(protocol::NodeStatus::PUBLICATION_PERIOD_MS));
 
     return res;
 
-    fail:
+fail:
     assert(res < 0);
     gdr_sub_.stop();
     gni_srv_.stop();
diff --git a/libuavcan/src/protocol/panic_broadcaster.cpp b/libuavcan/src/protocol/panic_broadcaster.cpp
index 1437ab14a3..1be2762bc3 100644
--- a/libuavcan/src/protocol/panic_broadcaster.cpp
+++ b/libuavcan/src/protocol/panic_broadcaster.cpp
@@ -29,7 +29,9 @@ void PanicBroadcaster::panic(const char* short_reason)
     while (p && *p)
     {
         if (msg_.reason_text.size() == msg_.reason_text.capacity())
+        {
             break;
+        }
         msg_.reason_text.push_back(*p);
         p++;
     }
diff --git a/libuavcan/src/transport/can_io.cpp b/libuavcan/src/transport/can_io.cpp
index c07ba54aa5..afd01a71bc 100644
--- a/libuavcan/src/transport/can_io.cpp
+++ b/libuavcan/src/transport/can_io.cpp
@@ -19,7 +19,7 @@ std::string CanRxFrame::toString(StringRepresentation mode) const
 {
     std::ostringstream os;
     os << CanFrame::toString(mode)
-        << " ts_m=" << ts_mono << " ts_utc=" << ts_utc << " iface=" << int(iface_index);
+       << " ts_m=" << ts_mono << " ts_utc=" << ts_utc << " iface=" << int(iface_index);
     return os.str();
 }
 
@@ -39,14 +39,18 @@ void CanTxQueue::Entry::destroy(Entry*& obj, IAllocator& allocator)
 bool CanTxQueue::Entry::qosHigherThan(const CanFrame& rhs_frame, Qos rhs_qos) const
 {
     if (qos != rhs_qos)
+    {
         return qos > rhs_qos;
+    }
     return frame.priorityHigherThan(rhs_frame);
 }
 
 bool CanTxQueue::Entry::qosLowerThan(const CanFrame& rhs_frame, Qos rhs_qos) const
 {
     if (qos != rhs_qos)
+    {
         return qos < rhs_qos;
+    }
     return frame.priorityLowerThan(rhs_frame);
 }
 
@@ -56,11 +60,15 @@ std::string CanTxQueue::Entry::toString() const
     switch (qos)
     {
     case Volatile:
+    {
         str_qos = "<volat> ";
         break;
+    }
     case Persistent:
+    {
         str_qos = "<perst> ";
         break;
+    }
     default:
         assert(0);
         str_qos = "<?WTF?> ";
@@ -85,7 +93,9 @@ CanTxQueue::~CanTxQueue()
 void CanTxQueue::registerRejectedFrame()
 {
     if (rejected_frames_cnt_ < std::numeric_limits<uint32_t>::max())
+    {
         rejected_frames_cnt_++;
+    }
 }
 
 void CanTxQueue::push(const CanFrame& frame, MonotonicTime tx_deadline, Qos qos, CanIOFlags flags)
@@ -130,7 +140,9 @@ void CanTxQueue::push(const CanFrame& frame, MonotonicTime tx_deadline, Qos qos,
         while (p)
         {
             if (lowestqos->qosHigherThan(*p))
+            {
                 lowestqos = p;
+            }
             p = p->getNextListNode();
         }
         // Note that frame with *equal* QoS will be replaced too.
@@ -145,8 +157,10 @@ void CanTxQueue::push(const CanFrame& frame, MonotonicTime tx_deadline, Qos qos,
     }
 
     if (praw == NULL)
+    {
         return;                                            // Seems that there is no memory at all.
 
+    }
     Entry* entry = new (praw) Entry(frame, tx_deadline, qos, flags);
     assert(entry);
     queue_.insertBefore(entry, PriorityInsertionComparator(frame));
@@ -167,7 +181,9 @@ CanTxQueue::Entry* CanTxQueue::peek()
             p = next;
         }
         else
+        {
             return p;
+        }
     }
     return NULL;
 }
@@ -187,7 +203,9 @@ bool CanTxQueue::topPriorityHigherOrEqual(const CanFrame& rhs_frame) const
 {
     const Entry* entry = queue_.get();
     if (entry == NULL)
+    {
         return false;
+    }
     return !rhs_frame.priorityHigherThan(entry->frame);
 }
 
@@ -217,10 +235,14 @@ int CanIOManager::sendFromTxQueue(int iface_index)
     assert(iface_index >= 0 && iface_index < MaxCanIfaces);
     CanTxQueue::Entry* entry = tx_queues_[iface_index].peek();
     if (entry == NULL)
+    {
         return 0;
+    }
     const int res = sendToIface(iface_index, entry->frame, entry->deadline, entry->flags);
     if (res > 0)
+    {
         tx_queues_[iface_index].remove(entry);
+    }
     return res;
 }
 
@@ -230,7 +252,9 @@ int CanIOManager::makePendingTxMask() const
     for (int i = 0; i < getNumIfaces(); i++)
     {
         if (!tx_queues_[i].isEmpty())
+        {
             write_mask |= 1 << i;
+        }
     }
     return write_mask;
 }
@@ -254,27 +278,33 @@ uint64_t CanIOManager::getNumErrors(int iface_index) const
 }
 
 int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, MonotonicTime blocking_deadline,
-                        int iface_mask, CanTxQueue::Qos qos, CanIOFlags flags)
+                       int iface_mask, CanTxQueue::Qos qos, CanIOFlags flags)
 {
     const int num_ifaces = getNumIfaces();
     const int all_ifaces_mask = (1 << num_ifaces) - 1;
     iface_mask &= all_ifaces_mask;
 
     if (blocking_deadline > tx_deadline)
+    {
         blocking_deadline = tx_deadline;
+    }
 
     int retval = 0;
 
     while (true)
     {
         if (iface_mask == 0)
+        {
             break;
+        }
         CanSelectMasks masks;
         masks.write = iface_mask | makePendingTxMask();
         {
             const int select_res = driver_.select(masks, blocking_deadline);
             if (select_res < 0)
+            {
                 return select_res;
+            }
             assert(masks.read == 0);
         }
 
@@ -294,7 +324,9 @@ int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, Monoton
                     {
                         res = sendToIface(i, frame, tx_deadline, flags);
                         if (res > 0)
+                        {
                             iface_mask &= ~(1 << i);              // Mark transmitted
+                        }
                     }
                 }
                 else
@@ -302,7 +334,9 @@ int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, Monoton
                     res = sendFromTxQueue(i);
                 }
                 if (res > 0)
+                {
                     retval++;
+                }
             }
         }
 
@@ -318,7 +352,9 @@ int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, Monoton
             for (int i = 0; i < num_ifaces; i++)
             {
                 if (iface_mask & (1 << i))
+                {
                     tx_queues_[i].push(frame, tx_deadline, qos, flags);
+                }
             }
             break;
         }
@@ -338,14 +374,18 @@ int CanIOManager::receive(CanRxFrame& out_frame, MonotonicTime blocking_deadline
         {
             const int select_res = driver_.select(masks, blocking_deadline);
             if (select_res < 0)
+            {
                 return select_res;
+            }
         }
 
         // Write - if buffers are not empty, one frame will be sent for each iface per one receive() call
         for (int i = 0; i < num_ifaces; i++)
         {
             if (masks.write & (1 << i))
+            {
                 sendFromTxQueue(i);
+            }
         }
 
         // Read
@@ -372,7 +412,9 @@ int CanIOManager::receive(CanRxFrame& out_frame, MonotonicTime blocking_deadline
 
         // Timeout checked in the last order - this way we can operate with expired deadline:
         if (sysclock_.getMonotonic() >= blocking_deadline)
+        {
             break;
+        }
     }
     return 0;
 }
diff --git a/libuavcan/src/transport/dispatcher.cpp b/libuavcan/src/transport/dispatcher.cpp
index cca313ed35..981d8708e9 100644
--- a/libuavcan/src/transport/dispatcher.cpp
+++ b/libuavcan/src/transport/dispatcher.cpp
@@ -48,7 +48,9 @@ bool LoopbackFrameListenerRegistry::doesExist(const LoopbackFrameListenerBase* l
     while (p)
     {
         if (p == listener)
+        {
             return true;
+        }
         p = p->getNextListNode();
     }
     return false;
@@ -76,7 +78,9 @@ bool Dispatcher::ListenerRegistry::add(TransferListenerBase* listener, Mode mode
         while (p)
         {
             if (p->getDataTypeDescriptor().getID() == listener->getDataTypeDescriptor().getID())
+            {
                 return false;
+            }
             p = p->getNextListNode();
         }
     }
@@ -96,7 +100,9 @@ bool Dispatcher::ListenerRegistry::exists(DataTypeID dtid) const
     while (p)
     {
         if (p->getDataTypeDescriptor().getID() == dtid)
+        {
             return true;
+        }
         p = p->getNextListNode();
     }
     return false;
@@ -118,9 +124,13 @@ void Dispatcher::ListenerRegistry::handleFrame(const RxFrame& frame)
     while (p)
     {
         if (p->getDataTypeDescriptor().getID() == frame.getDataTypeID())
+        {
             p->handleFrame(frame);
+        }
         else if (p->getDataTypeDescriptor().getID() < frame.getDataTypeID())  // Listeners are ordered by data type id!
+        {
             break;
+        }
         p = p->getNextListNode();
     }
 }
@@ -147,16 +157,22 @@ void Dispatcher::handleFrame(const CanRxFrame& can_frame)
     {
     case TransferTypeMessageBroadcast:
     case TransferTypeMessageUnicast:
+    {
         lmsg_.handleFrame(frame);
         break;
+    }
 
     case TransferTypeServiceRequest:
+    {
         lsrv_req_.handleFrame(frame);
         break;
+    }
 
     case TransferTypeServiceResponse:
+    {
         lsrv_resp_.handleFrame(frame);
         break;
+    }
 
     default:
         assert(0);
@@ -185,7 +201,9 @@ int Dispatcher::spin(MonotonicTime deadline)
         CanRxFrame frame;
         const int res = canio_.receive(frame, deadline, flags);
         if (res < 0)
+        {
             return res;
+        }
         if (res > 0)
         {
             if (flags & CanIOFlagLoopback)
@@ -283,8 +301,8 @@ bool Dispatcher::hasSubscriber(DataTypeID dtid) const
 
 bool Dispatcher::hasPublisher(DataTypeID dtid) const
 {
-    return outgoing_transfer_reg_.exists(dtid, TransferTypeMessageBroadcast)
-        || outgoing_transfer_reg_.exists(dtid, TransferTypeMessageUnicast);
+    return outgoing_transfer_reg_.exists(dtid, TransferTypeMessageBroadcast) ||
+           outgoing_transfer_reg_.exists(dtid, TransferTypeMessageUnicast);
 }
 
 bool Dispatcher::hasServer(DataTypeID dtid) const
diff --git a/libuavcan/src/transport/frame.cpp b/libuavcan/src/transport/frame.cpp
index 16f152257a..ed592e5ff4 100644
--- a/libuavcan/src/transport/frame.cpp
+++ b/libuavcan/src/transport/frame.cpp
@@ -18,15 +18,15 @@ int Frame::getMaxPayloadLen() const
     switch (getTransferType())
     {
     case TransferTypeMessageBroadcast:
+    {
         return sizeof(payload_);
-        break;
-
+    }
     case TransferTypeServiceResponse:
     case TransferTypeServiceRequest:
     case TransferTypeMessageUnicast:
+    {
         return sizeof(payload_) - 1;
-        break;
-
+    }
     default:
         assert(0);
         return -1;
@@ -53,7 +53,9 @@ inline static uint32_t bitunpack(uint32_t val)
 bool Frame::parse(const CanFrame& can_frame)
 {
     if (can_frame.isErrorFrame() || can_frame.isRemoteTransmissionRequest() || !can_frame.isExtended())
+    {
         return false;
+    }
 
     if (can_frame.dlc > sizeof(CanFrame::data))
     {
@@ -78,22 +80,30 @@ bool Frame::parse(const CanFrame& can_frame)
     switch (transfer_type_)
     {
     case TransferTypeMessageBroadcast:
+    {
         dst_node_id_ = NodeID::Broadcast;
         payload_len_ = can_frame.dlc;
         std::copy(can_frame.data, can_frame.data + can_frame.dlc, payload_);
         break;
+    }
 
     case TransferTypeServiceResponse:
     case TransferTypeServiceRequest:
     case TransferTypeMessageUnicast:
+    {
         if (can_frame.dlc < 1)
+        {
             return false;
+        }
         if (can_frame.data[0] & 0x80)     // RESERVED, must be zero
+        {
             return false;
+        }
         dst_node_id_ = can_frame.data[0] & 0x7F;
         payload_len_ = can_frame.dlc - 1;
         std::copy(can_frame.data + 1, can_frame.data + can_frame.dlc, payload_);
         break;
+    }
 
     default:
         return false;
@@ -128,18 +138,22 @@ bool Frame::compile(CanFrame& out_can_frame) const
     switch (transfer_type_)
     {
     case TransferTypeMessageBroadcast:
+    {
         out_can_frame.dlc = payload_len_;
         std::copy(payload_, payload_ + payload_len_, out_can_frame.data);
         break;
+    }
 
     case TransferTypeServiceResponse:
     case TransferTypeServiceRequest:
     case TransferTypeMessageUnicast:
+    {
         assert((payload_len_ + 1) <= sizeof(CanFrame::data));
         out_can_frame.data[0] = dst_node_id_.get();
         out_can_frame.dlc = payload_len_ + 1;
         std::copy(payload_, payload_ + payload_len_, out_can_frame.data + 1);
         break;
+    }
 
     default:
         assert(0);
@@ -200,7 +214,9 @@ std::string Frame::toString() const
     {
         ofs += std::snprintf(buf + ofs, BUFLEN - ofs, "%02x", payload_[i]);
         if ((i + 1) < payload_len_)
+        {
             ofs += std::snprintf(buf + ofs, BUFLEN - ofs, " ");
+        }
     }
     ofs += std::snprintf(buf + ofs, BUFLEN - ofs, "]");
     return std::string(buf);
diff --git a/libuavcan/src/transport/transfer.cpp b/libuavcan/src/transport/transfer.cpp
index 0fa81ad180..f42d0e83e1 100644
--- a/libuavcan/src/transport/transfer.cpp
+++ b/libuavcan/src/transport/transfer.cpp
@@ -22,7 +22,9 @@ int TransferID::computeForwardDistance(TransferID rhs) const
 {
     int d = int(rhs.get()) - int(get());
     if (d < 0)
+    {
         d += 1 << BitLen;
+    }
 
     assert(((get() + d) & Max) == rhs.get());
     return d;
diff --git a/libuavcan/src/transport/transfer_buffer.cpp b/libuavcan/src/transport/transfer_buffer.cpp
index ba477f26ba..b3b61bd6fc 100644
--- a/libuavcan/src/transport/transfer_buffer.cpp
+++ b/libuavcan/src/transport/transfer_buffer.cpp
@@ -27,7 +27,9 @@ DynamicTransferBufferManagerEntry::Block* DynamicTransferBufferManagerEntry::Blo
 {
     void* const praw = allocator.allocate(sizeof(Block));
     if (praw == NULL)
+    {
         return NULL;
+    }
     return new (praw) Block;
 }
 
@@ -77,7 +79,9 @@ DynamicTransferBufferManagerEntry* DynamicTransferBufferManagerEntry::instantiat
 {
     void* const praw = allocator.allocate(sizeof(DynamicTransferBufferManagerEntry));
     if (praw == NULL)
+    {
         return NULL;
+    }
     return new (praw) DynamicTransferBufferManagerEntry(allocator, max_size);
 }
 
@@ -112,9 +116,13 @@ int DynamicTransferBufferManagerEntry::read(unsigned int offset, uint8_t* data,
         return -1;
     }
     if (offset >= max_write_pos_)
+    {
         return 0;
+    }
     if ((offset + len) > max_write_pos_)
+    {
         len = max_write_pos_ - offset;
+    }
     assert((offset + len) <= max_write_pos_);
 
     // This shall be optimized.
@@ -125,7 +133,9 @@ int DynamicTransferBufferManagerEntry::read(unsigned int offset, uint8_t* data,
     {
         p->read(outptr, offset, total_offset, left_to_read);
         if (left_to_read == 0)
+        {
             break;
+        }
         p = p->getNextListNode();
     }
 
@@ -142,9 +152,13 @@ int DynamicTransferBufferManagerEntry::write(unsigned int offset, const uint8_t*
     }
 
     if (offset >= max_size_)
+    {
         return 0;
+    }
     if ((offset + len) > max_size_)
+    {
         len = max_size_ - offset;
+    }
     assert((offset + len) <= max_size_);
 
     unsigned int total_offset = 0;
@@ -159,7 +173,9 @@ int DynamicTransferBufferManagerEntry::write(unsigned int offset, const uint8_t*
         last_written_block = p;
         p->write(inptr, offset, total_offset, left_to_write);
         if (left_to_write == 0)
+        {
             break;
+        }
         p = p->getNextListNode();
     }
 
@@ -172,8 +188,10 @@ int DynamicTransferBufferManagerEntry::write(unsigned int offset, const uint8_t*
         // Allocating the chunk
         Block* new_block = Block::instantiate(allocator_);
         if (new_block == NULL)
+        {
             break;                        // We're in deep shit.
 
+        }
         // Appending the chain with the new block
         if (last_written_block != NULL)
         {
diff --git a/libuavcan/src/transport/transfer_listener.cpp b/libuavcan/src/transport/transfer_listener.cpp
index 411f174310..95f937cbe3 100644
--- a/libuavcan/src/transport/transfer_listener.cpp
+++ b/libuavcan/src/transport/transfer_listener.cpp
@@ -22,10 +22,10 @@ int IncomingTransfer::write(unsigned int, const uint8_t*, unsigned int)
  * SingleFrameIncomingTransfer
  */
 SingleFrameIncomingTransfer::SingleFrameIncomingTransfer(const RxFrame& frm)
-: IncomingTransfer(frm.getMonotonicTimestamp(), frm.getUtcTimestamp(), frm.getTransferType(),
-                   frm.getTransferID(), frm.getSrcNodeID(), frm.getIfaceIndex())
-, payload_(frm.getPayloadPtr())
-, payload_len_(frm.getPayloadLen())
+    : IncomingTransfer(frm.getMonotonicTimestamp(), frm.getUtcTimestamp(), frm.getTransferType(),
+                       frm.getTransferID(), frm.getSrcNodeID(), frm.getIfaceIndex())
+    , payload_(frm.getPayloadPtr())
+    , payload_len_(frm.getPayloadLen())
 {
     assert(frm.isValid());
 }
@@ -38,9 +38,13 @@ int SingleFrameIncomingTransfer::read(unsigned int offset, uint8_t* data, unsign
         return -1;
     }
     if (offset >= payload_len_)
+    {
         return 0;
+    }
     if ((offset + len) > payload_len_)
+    {
         len = payload_len_ - offset;
+    }
     assert((offset + len) <= payload_len_);
     std::copy(payload_ + offset, payload_ + offset + len, data);
     return len;
@@ -51,9 +55,9 @@ int SingleFrameIncomingTransfer::read(unsigned int offset, uint8_t* data, unsign
  */
 MultiFrameIncomingTransfer::MultiFrameIncomingTransfer(MonotonicTime ts_mono, UtcTime ts_utc,
                                                        const RxFrame& last_frame, TransferBufferAccessor& tba)
-: IncomingTransfer(ts_mono, ts_utc, last_frame.getTransferType(), last_frame.getTransferID(),
-                   last_frame.getSrcNodeID(), last_frame.getIfaceIndex())
-, buf_acc_(tba)
+    : IncomingTransfer(ts_mono, ts_utc, last_frame.getTransferType(), last_frame.getTransferID(),
+                       last_frame.getSrcNodeID(), last_frame.getIfaceIndex())
+    , buf_acc_(tba)
 {
     assert(last_frame.isValid());
     assert(last_frame.isLast());
@@ -87,7 +91,9 @@ bool TransferListenerBase::checkPayloadCrc(const uint16_t compare_with, const IT
             return false;
         }
         if (res == 0)
+        {
             break;
+        }
         offset += res;
         crc.add(buf, res);
     }
@@ -106,8 +112,10 @@ void TransferListenerBase::handleReception(TransferReceiver& receiver, const RxF
     switch (receiver.addFrame(frame, tba))
     {
     case TransferReceiver::ResultNotComplete:
+    {
         return;
 
+    }
     case TransferReceiver::ResultSingleFrame:
     {
         SingleFrameIncomingTransfer it(frame);
@@ -138,9 +146,11 @@ void TransferListenerBase::handleReception(TransferReceiver& receiver, const RxF
     }
 
     default:
+    {
         assert(0);
         break;
     }
+    }
 }
 
 }
diff --git a/libuavcan/src/transport/transfer_receiver.cpp b/libuavcan/src/transport/transfer_receiver.cpp
index cab435a4c9..ababd67a4f 100644
--- a/libuavcan/src/transport/transfer_receiver.cpp
+++ b/libuavcan/src/transport/transfer_receiver.cpp
@@ -21,9 +21,13 @@ TransferReceiver::TidRelation TransferReceiver::getTidRelation(const RxFrame& fr
 {
     const int distance = tid_.computeForwardDistance(frame.getTransferID());
     if (distance == 0)
+    {
         return TidSame;
+    }
     if (distance < ((1 << TransferID::BitLen) / 2))
+    {
         return TidFuture;
+    }
     return TidRepeat;
 }
 
@@ -53,7 +57,9 @@ void TransferReceiver::prepareForNextTransfer()
 bool TransferReceiver::validate(const RxFrame& frame) const
 {
     if (iface_index_ != frame.getIfaceIndex())
+    {
         return false;
+    }
 
     if (frame.isFirst() && !frame.isLast() && (frame.getPayloadLen() < TransferCRC::NumBytes))
     {
@@ -90,15 +96,19 @@ bool TransferReceiver::writePayload(const RxFrame& frame, ITransferBuffer& buf)
     if (frame.isFirst())     // First frame contains CRC, we need to extract it now
     {
         if (frame.getPayloadLen() < TransferCRC::NumBytes)
+        {
             return false;    // Must have been validated earlier though. I think I'm paranoid.
 
+        }
         this_transfer_crc_ = (payload[0] & 0xFF) | (uint16_t(payload[1] & 0xFF) << 8); // Little endian.
 
         const int effective_payload_len = payload_len - TransferCRC::NumBytes;
         const int res = buf.write(buffer_write_pos_, payload + TransferCRC::NumBytes, effective_payload_len);
         const bool success = res == effective_payload_len;
         if (success)
+        {
             buffer_write_pos_ += effective_payload_len;
+        }
         return success;
     }
     else
@@ -106,7 +116,9 @@ bool TransferReceiver::writePayload(const RxFrame& frame, ITransferBuffer& buf)
         const int res = buf.write(buffer_write_pos_, payload, payload_len);
         const bool success = res == payload_len;
         if (success)
+        {
             buffer_write_pos_ += payload_len;
+        }
         return success;
     }
 }
@@ -132,7 +144,9 @@ TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame, Tra
     // Payload write
     ITransferBuffer* buf = tba.access();
     if (buf == NULL)
+    {
         buf = tba.create();
+    }
     if (buf == NULL)
     {
         UAVCAN_TRACE("TransferReceiver", "Failed to access the buffer, %s", frame.toString().c_str());
@@ -161,7 +175,9 @@ bool TransferReceiver::isTimedOut(MonotonicTime current_ts) const
 {
     static const uint64_t INTERVAL_MULT = (1 << TransferID::BitLen) / 2 + 1;
     if (current_ts <= this_transfer_ts_)
+    {
         return false;
+    }
     return (current_ts - this_transfer_ts_).toUSec() > (uint64_t(transfer_interval_usec_) * INTERVAL_MULT);
 }
 
@@ -209,7 +225,9 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, Tr
     }
 
     if (!validate(frame))
+    {
         return ResultNotComplete;
+    }
 
     return receive(frame, tba);
 }
diff --git a/libuavcan/src/transport/transfer_sender.cpp b/libuavcan/src/transport/transfer_sender.cpp
index 7f4d32dae1..85301f7d50 100644
--- a/libuavcan/src/transport/transfer_sender.cpp
+++ b/libuavcan/src/transport/transfer_sender.cpp
@@ -59,11 +59,15 @@ int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime
         {
             const int send_res = dispatcher_.send(frame, tx_deadline, blocking_deadline, qos_, flags_, iface_mask_);
             if (send_res < 0)
+            {
                 return send_res;
+            }
 
             if (frame.isLast())
+            {
                 return next_frame_index;  // Number of frames transmitted
 
+            }
             frame.setIndex(next_frame_index++);
 
             const int write_res = frame.setPayload(payload + offset, payload_len - offset);
@@ -76,7 +80,9 @@ int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime
             offset += write_res;
             assert(offset <= payload_len);
             if (offset >= payload_len)
+            {
                 frame.makeLast();
+            }
         }
     }