diff --git a/libuavcan/include/uavcan/transport/can_acceptance_filter_configurator.hpp b/libuavcan/include/uavcan/transport/can_acceptance_filter_configurator.hpp
index d73adda99e..d8641b6b4f 100644
--- a/libuavcan/include/uavcan/transport/can_acceptance_filter_configurator.hpp
+++ b/libuavcan/include/uavcan/transport/can_acceptance_filter_configurator.hpp
@@ -68,7 +68,7 @@ private:
 
     typedef uavcan::Multiset<CanFilterConfig> MultisetConfigContainer;
 
-    static CanFilterConfig mergeFilters(CanFilterConfig &a_, CanFilterConfig &b_);
+    static CanFilterConfig mergeFilters(CanFilterConfig& a_, CanFilterConfig& b_);
     static uint8_t countBits(uint32_t n_);
     uint16_t getNumFilters() const;
 
@@ -127,5 +127,4 @@ public:
 };
 
 }
-
 #endif // UAVCAN_BUILD_CONFIG_HPP_INCLUDED
diff --git a/libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp b/libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp
index fa45b11411..cf551cb2cd 100644
--- a/libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp
+++ b/libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp
@@ -193,35 +193,35 @@ int CanAcceptanceFilterConfigurator::computeConfiguration(AnonymousMessages mode
 
 uint16_t CanAcceptanceFilterConfigurator::getNumFilters() const
 {
-	if (filters_number_ == 0)
-	{
-    static const uint16_t InvalidOut = 0xFFFF;
-    uint16_t out = InvalidOut;
-    ICanDriver& can_driver = node_.getDispatcher().getCanIOManager().getCanDriver();
-
-    for (uint8_t i = 0; i < node_.getDispatcher().getCanIOManager().getNumIfaces(); i++)
+    if (filters_number_ == 0)
     {
-        const ICanIface* iface = can_driver.getIface(i);
-        if (iface == NULL)
-        {
-            UAVCAN_ASSERT(0);
-            out = 0;
-            break;
-        }
-        const uint16_t num = iface->getNumFilters();
-        out = min(out, num);
-        if (out > MaxCanAcceptanceFilters)
-        {
-            out = MaxCanAcceptanceFilters;
-        }
-    }
+        static const uint16_t InvalidOut = 0xFFFF;
+        uint16_t out = InvalidOut;
+        ICanDriver& can_driver = node_.getDispatcher().getCanIOManager().getCanDriver();
 
-    return (out == InvalidOut) ? 0 : out;
-	}
-	else
-	{
-		return filters_number_;
-	}
+        for (uint8_t i = 0; i < node_.getDispatcher().getCanIOManager().getNumIfaces(); i++)
+        {
+            const ICanIface* iface = can_driver.getIface(i);
+            if (iface == NULL)
+            {
+                UAVCAN_ASSERT(0);
+                out = 0;
+                break;
+            }
+            const uint16_t num = iface->getNumFilters();
+            out = min(out, num);
+            if (out > MaxCanAcceptanceFilters)
+            {
+                out = MaxCanAcceptanceFilters;
+            }
+        }
+
+        return (out == InvalidOut) ? 0 : out;
+    }
+    else
+    {
+        return filters_number_;
+    }
 }
 
 int16_t CanAcceptanceFilterConfigurator::addFilterConfig(const CanFilterConfig& config)
@@ -231,7 +231,7 @@ int16_t CanAcceptanceFilterConfigurator::addFilterConfig(const CanFilterConfig&
         return -ErrMemory;
     }
 
-	return 0;
+    return 0;
 }
 
 CanFilterConfig CanAcceptanceFilterConfigurator::mergeFilters(CanFilterConfig& a_, CanFilterConfig& b_)
@@ -253,5 +253,4 @@ uint8_t CanAcceptanceFilterConfigurator::countBits(uint32_t n_)
 
     return c_;
 }
-
 }
diff --git a/libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp b/libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp
index bdc433a5b6..14383b3497 100644
--- a/libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp
+++ b/libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp
@@ -58,7 +58,7 @@ class SocketCanIface : public uavcan::ICanIface
 {
     static inline ::can_frame makeSocketCanFrame(const uavcan::CanFrame& uavcan_frame)
     {
-        ::can_frame sockcan_frame { uavcan_frame.id & uavcan::CanFrame::MaskExtID, uavcan_frame.dlc, { } };
+        ::can_frame sockcan_frame { uavcan_frame.id& uavcan::CanFrame::MaskExtID, uavcan_frame.dlc, { } };
         (void)std::copy(uavcan_frame.data, uavcan_frame.data + uavcan_frame.dlc, sockcan_frame.data);
         if (uavcan_frame.isExtended())
         {
@@ -310,7 +310,6 @@ class SocketCanIface : public uavcan::ICanIface
                 {
                     rx.ts_utc += clock_.getPrivateAdjustment();
                     rx_queue_.push(rx);
-
                 }
             }
             else if (res == 0)
@@ -327,9 +326,9 @@ class SocketCanIface : public uavcan::ICanIface
     /**
      * Returns true if a frame accepted by HW filters
      */
-    bool checkHWFilters (const ::can_frame frame) const
+    bool checkHWFilters(const ::can_frame frame) const
     {
-        if (! hw_filters_container_.empty())
+        if (!hw_filters_container_.empty())
         {
             uint16_t container_size = hw_filters_container_.size();
             for (uint16_t i = 0; i < container_size; i++)
@@ -486,7 +485,7 @@ public:
     /**
      * Returns number of errors of each kind in a map.
      */
-    const decltype(errors_)& getErrors() const { return errors_; }
+    const decltype(errors_) & getErrors() const { return errors_; }
 
     int getFileDescriptor() const { return fd_; }
 
@@ -537,7 +536,7 @@ public:
                 goto fail;
             }
             // Non-blocking
-            if (::fcntl(s, F_SETFL , O_NONBLOCK) < 0)
+            if (::fcntl(s, F_SETFL, O_NONBLOCK) < 0)
             {
                 goto fail;
             }