diff --git a/libraries/AP_HAL_ChibiOS/AnalogIn.cpp b/libraries/AP_HAL_ChibiOS/AnalogIn.cpp
index dd1597a55d..6b4e805d90 100644
--- a/libraries/AP_HAL_ChibiOS/AnalogIn.cpp
+++ b/libraries/AP_HAL_ChibiOS/AnalogIn.cpp
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #include <AP_HAL/AP_HAL.h>
@@ -58,7 +58,7 @@ using namespace ChibiOS;
 
 /*
   scaling table between ADC count and actual input voltage, to account
-  for voltage dividers on the board. 
+  for voltage dividers on the board.
  */
 const AnalogIn::pin_info AnalogIn::pin_config[] = HAL_ANALOG_PINS;
 
@@ -81,7 +81,7 @@ AnalogSource::AnalogSource(int16_t pin, float initial_value) :
 }
 
 
-float AnalogSource::read_average() 
+float AnalogSource::read_average()
 {
     WITH_SEMAPHORE(_semaphore);
 
@@ -97,7 +97,7 @@ float AnalogSource::read_average()
     return _value;
 }
 
-float AnalogSource::read_latest() 
+float AnalogSource::read_latest()
 {
     return _latest_value;
 }
@@ -192,7 +192,7 @@ void AnalogIn::adccallback(ADCDriver *adcp)
 
     stm32_cacheBufferInvalidate(buffer, sizeof(adcsample_t)*ADC_DMA_BUF_DEPTH*ADC_GRP1_NUM_CHANNELS);
     for (uint8_t i = 0; i < ADC_DMA_BUF_DEPTH; i++) {
-        for (uint8_t j = 0; j < ADC_GRP1_NUM_CHANNELS; j++) { 
+        for (uint8_t j = 0; j < ADC_GRP1_NUM_CHANNELS; j++) {
             sample_sum[j] += *buffer++;
         }
     }
@@ -290,7 +290,7 @@ void AnalogIn::_timer_tick(void)
 
     // update power status flags
     update_power_flags();
-    
+
     // match the incoming channels to the currently active pins
     for (uint8_t i=0; i < ADC_GRP1_NUM_CHANNELS; i++) {
 #ifdef ANALOG_VCC_5V_PIN
@@ -312,7 +312,7 @@ void AnalogIn::_timer_tick(void)
     _servorail_voltage = iomcu.get_vservo();
     _rssi_voltage = iomcu.get_vrssi();
 #endif
-    
+
     for (uint8_t i=0; i<ADC_GRP1_NUM_CHANNELS; i++) {
         Debug("chan %u value=%u\n",
               (unsigned)pin_config[i].channel,
@@ -347,7 +347,7 @@ void AnalogIn::_timer_tick(void)
 #endif
 }
 
-AP_HAL::AnalogSource* AnalogIn::channel(int16_t pin) 
+AP_HAL::AnalogSource* AnalogIn::channel(int16_t pin)
 {
     for (uint8_t j=0; j<ANALOG_MAX_CHANNELS; j++) {
         if (_channels[j] == nullptr) {
@@ -371,7 +371,7 @@ void AnalogIn::update_power_flags(void)
         flags |= MAV_POWER_STATUS_BRICK_VALID;
     }
 #endif
-    
+
 #ifdef HAL_GPIO_PIN_VDD_SERVO_VALID
     if (!palReadLine(HAL_GPIO_PIN_VDD_SERVO_VALID)) {
         flags |= MAV_POWER_STATUS_SERVO_VALID;
@@ -392,20 +392,20 @@ void AnalogIn::update_power_flags(void)
         flags |= MAV_POWER_STATUS_USB_CONNECTED;
     }
 #endif
-    
+
 #ifdef HAL_GPIO_PIN_VDD_5V_HIPOWER_OC
     if (!palReadLine(HAL_GPIO_PIN_VDD_5V_HIPOWER_OC)) {
         flags |= MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENT;
-    }    
+    }
 #endif
 
 #ifdef HAL_GPIO_PIN_VDD_5V_PERIPH_OC
     if (!palReadLine(HAL_GPIO_PIN_VDD_5V_PERIPH_OC)) {
         flags |= MAV_POWER_STATUS_PERIPH_OVERCURRENT;
-    }    
+    }
 #endif
-    if (_power_flags != 0 && 
-        _power_flags != flags && 
+    if (_power_flags != 0 &&
+        _power_flags != flags &&
         hal.util->get_soft_armed()) {
         // the power status has changed while armed
         flags |= MAV_POWER_STATUS_CHANGED;
@@ -413,4 +413,3 @@ void AnalogIn::update_power_flags(void)
     _power_flags = flags;
 }
 #endif // HAL_USE_ADC
-
diff --git a/libraries/AP_HAL_ChibiOS/AnalogIn.h b/libraries/AP_HAL_ChibiOS/AnalogIn.h
index d218f1f5ea..6f6471dbf2 100644
--- a/libraries/AP_HAL_ChibiOS/AnalogIn.h
+++ b/libraries/AP_HAL_ChibiOS/AnalogIn.h
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 
@@ -54,7 +54,7 @@ private:
 class ChibiOS::AnalogIn : public AP_HAL::AnalogIn {
 public:
     friend class AnalogSource;
-    
+
     void init() override;
     AP_HAL::AnalogSource* channel(int16_t pin) override;
     void _timer_tick(void);
@@ -66,7 +66,7 @@ public:
 private:
     void read_adc(uint32_t *val);
     void update_power_flags(void);
-    
+
     int _battery_handle;
     int _servorail_handle;
     int _system_power_handle;
@@ -84,9 +84,9 @@ private:
     struct pin_info {
         uint8_t channel;
         float scaling;
-    }; 
+    };
     static const pin_info pin_config[];
-    
+
     static adcsample_t *samples;
     static uint32_t sample_sum[];
     static uint32_t sample_count;
diff --git a/libraries/AP_HAL_ChibiOS/CAN.h b/libraries/AP_HAL_ChibiOS/CAN.h
index 1f11192a70..6717b1057f 100644
--- a/libraries/AP_HAL_ChibiOS/CAN.h
+++ b/libraries/AP_HAL_ChibiOS/CAN.h
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 
diff --git a/libraries/AP_HAL_ChibiOS/CANClock.cpp b/libraries/AP_HAL_ChibiOS/CANClock.cpp
index 4507e827f9..f7748d0e23 100644
--- a/libraries/AP_HAL_ChibiOS/CANClock.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANClock.cpp
@@ -409,4 +409,4 @@ UAVCAN_STM32_IRQ_HANDLER(TIMX_IRQHandler)
 }
 
 #endif
-#endif //HAL_WITH_UAVCAN
\ No newline at end of file
+#endif //HAL_WITH_UAVCAN
diff --git a/libraries/AP_HAL_ChibiOS/CANSerialRouter.h b/libraries/AP_HAL_ChibiOS/CANSerialRouter.h
index 0c39113ecf..841a4f5580 100644
--- a/libraries/AP_HAL_ChibiOS/CANSerialRouter.h
+++ b/libraries/AP_HAL_ChibiOS/CANSerialRouter.h
@@ -66,4 +66,3 @@ public:
 };
 
 #endif // AP_UAVCAN_SLCAN_ENABLED
-
diff --git a/libraries/AP_HAL_ChibiOS/CanIface.cpp b/libraries/AP_HAL_ChibiOS/CanIface.cpp
index 15ed933ceb..925ccb4a5a 100644
--- a/libraries/AP_HAL_ChibiOS/CanIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CanIface.cpp
@@ -1,18 +1,18 @@
 /*
  * The MIT License (MIT)
- * 
+ *
  * Copyright (c) 2014 Pavel Kirienko
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
  * the Software without restriction, including without limitation the rights to
  * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
  * the Software, and to permit persons to whom the Software is furnished to do so,
  * subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in all
  * copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
  * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
@@ -34,7 +34,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Siddharth Bharat Purohit
  */
 
diff --git a/libraries/AP_HAL_ChibiOS/Device.h b/libraries/AP_HAL_ChibiOS/Device.h
index 5978d0f482..febd7ff663 100644
--- a/libraries/AP_HAL_ChibiOS/Device.h
+++ b/libraries/AP_HAL_ChibiOS/Device.h
@@ -42,7 +42,7 @@ public:
     void bouncebuffer_setup(const uint8_t *&buf_tx, uint16_t tx_len,
                             uint8_t *&buf_rx, uint16_t rx_len);
     void bouncebuffer_finish(const uint8_t *buf_tx, uint8_t *buf_rx, uint16_t rx_len);
-    
+
 private:
     struct callback_info {
         struct callback_info *next;
@@ -63,4 +63,3 @@ private:
 }
 
 #endif // I2C or SPI
-
diff --git a/libraries/AP_HAL_ChibiOS/GPIO.cpp b/libraries/AP_HAL_ChibiOS/GPIO.cpp
index a10ea98d18..554982db6c 100644
--- a/libraries/AP_HAL_ChibiOS/GPIO.cpp
+++ b/libraries/AP_HAL_ChibiOS/GPIO.cpp
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #include "GPIO.h"
@@ -130,7 +130,7 @@ AP_HAL::DigitalSource* GPIO::channel(uint16_t pin)
 
 extern const AP_HAL::HAL& hal;
 
-/* 
+/*
    Attach an interrupt handler to a GPIO pin number. The pin number
    must be one specified with a GPIO() marker in hwdef.dat
  */
@@ -188,7 +188,7 @@ bool GPIO::_attach_interrupt(ioline_t line, palcallback_t cb, void *p, uint8_t m
                 return false;
             }
             break;
-    }    
+    }
 
     osalSysLock();
     palevent_t *pep = pal_lld_get_line_event(line);
@@ -260,4 +260,3 @@ void pal_interrupt_cb_functor(void *arg)
     }
     (g->fn)(g->pin_num, palReadLine(g->pal_line), now);
 }
-
diff --git a/libraries/AP_HAL_ChibiOS/GPIO.h b/libraries/AP_HAL_ChibiOS/GPIO.h
index 459e303b28..3aa5f941da 100644
--- a/libraries/AP_HAL_ChibiOS/GPIO.h
+++ b/libraries/AP_HAL_ChibiOS/GPIO.h
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #pragma once
@@ -55,7 +55,7 @@ public:
 
     /* attach interrupt via ioline_t */
     bool _attach_interrupt(ioline_t line, AP_HAL::Proc p, uint8_t mode);
-    
+
 private:
     bool _usb_connected;
     bool _ext_started;
diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index 3054aa917a..c7f64dc7ff 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #include <AP_HAL/AP_HAL.h>
@@ -178,13 +178,13 @@ static void main_loop()
 
     ChibiOS::Shared_DMA::init();
     peripheral_power_enable();
-        
+
     hal.uartA->begin(115200);
 
 #ifdef HAL_SPI_CHECK_CLOCK_FREQ
     // optional test of SPI clock frequencies
     ChibiOS::SPIDevice::test_clock_freq();
-#endif 
+#endif
 
     hal.uartB->begin(38400);
     hal.uartC->begin(57600);
@@ -242,7 +242,7 @@ static void main_loop()
 
     thread_running = true;
     chRegSetThreadName(SKETCHNAME);
-    
+
     /*
       switch to high priority for main loop
      */
@@ -282,7 +282,7 @@ void HAL_ChibiOS::run(int argc, char * const argv[], Callbacks* callbacks) const
 #ifdef HAL_USB_PRODUCT_ID
   setup_usb_strings();
 #endif
-    
+
 #ifdef HAL_STDOUT_SERIAL
     //STDOUT Initialistion
     SerialConfig stdoutcfg =
diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.h b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.h
index af9660b6ff..b73d47124c 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.h
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.h
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #pragma once
diff --git a/libraries/AP_HAL_ChibiOS/I2CDevice.cpp b/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
index f3ca77aade..01c5e38f40 100644
--- a/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
+++ b/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
@@ -65,9 +65,9 @@ I2CBus I2CDeviceManager::businfo[ARRAY_SIZE(I2CD)];
 void I2CBus::dma_init(void)
 {
     chMtxObjectInit(&dma_lock);
-    dma_handle = new Shared_DMA(I2CD[busnum].dma_channel_tx, I2CD[busnum].dma_channel_rx, 
+    dma_handle = new Shared_DMA(I2CD[busnum].dma_channel_tx, I2CD[busnum].dma_channel_rx,
                                 FUNCTOR_BIND_MEMBER(&I2CBus::dma_allocate, void, Shared_DMA *),
-                                FUNCTOR_BIND_MEMBER(&I2CBus::dma_deallocate, void, Shared_DMA *));    
+                                FUNCTOR_BIND_MEMBER(&I2CBus::dma_deallocate, void, Shared_DMA *));
 }
 
 // Clear Bus to avoid bus lockup
@@ -174,7 +174,7 @@ I2CDevice::I2CDevice(uint8_t busnum, uint8_t address, uint32_t bus_clock, bool u
 I2CDevice::~I2CDevice()
 {
 #if 0
-    printf("I2C device bus %u address 0x%02x closed\n", 
+    printf("I2C device bus %u address 0x%02x closed\n",
            (unsigned)bus.busnum, (unsigned)_address);
 #endif
     free(pname);
@@ -201,7 +201,7 @@ bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
         hal.console->printf("I2C: not owner of 0x%x for addr 0x%02x\n", (unsigned)get_bus_id(), _address);
         return false;
     }
-    
+
 #if defined(STM32F7) || defined(STM32H7)
     if (_use_smbus) {
         bus.i2ccfg.cr1 |= I2C_CR1_SMBHEN;
@@ -248,7 +248,7 @@ bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
     i2cAcquireBus(I2CD[bus.busnum].i2c);
 
     bus.bouncebuffer_setup(send, send_len, recv, recv_len);
-    
+
     for(uint8_t i=0 ; i <= _retries; i++) {
         int ret;
         // calculate a timeout as twice the expected transfer time, and set as min of 4ms
@@ -262,7 +262,7 @@ bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
 
         i2cStart(I2CD[bus.busnum].i2c, &bus.i2ccfg);
         osalDbgAssert(I2CD[bus.busnum].i2c->state == I2C_READY, "i2cStart state");
-        
+
         osalSysLock();
         hal.util->persistent_data.i2c_count++;
         osalSysUnlock();
@@ -278,7 +278,7 @@ bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
         osalDbgAssert(I2CD[bus.busnum].i2c->state == I2C_STOP, "i2cStart state");
 
         bus.dma_handle->unlock();
-        
+
         if (I2CD[bus.busnum].i2c->errors & I2C_ISR_LIMIT) {
             AP::internalerror().error(AP_InternalError::error_t::i2c_isr);
             break;
@@ -311,7 +311,7 @@ bool I2CDevice::read_registers_multiple(uint8_t first_reg, uint8_t *recv,
     return false;
 }
 
-    
+
 /*
   register a periodic callback
 */
@@ -319,7 +319,7 @@ AP_HAL::Device::PeriodicHandle I2CDevice::register_periodic_callback(uint32_t pe
 {
     return bus.register_periodic_callback(period_usec, cb, this);
 }
-    
+
 
 /*
   adjust a periodic callback
diff --git a/libraries/AP_HAL_ChibiOS/I2CDevice.h b/libraries/AP_HAL_ChibiOS/I2CDevice.h
index 5a7448b4a7..72580d7a88 100644
--- a/libraries/AP_HAL_ChibiOS/I2CDevice.h
+++ b/libraries/AP_HAL_ChibiOS/I2CDevice.h
@@ -13,7 +13,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Modified for use in AP_HAL_ChibiOS by Andrew Tridgell and Siddharth Bharat Purohit
  */
 
@@ -45,7 +45,7 @@ public:
     // have two DMA channels that we are handling with the shared_dma
     // code
     mutex_t dma_lock;
-    
+
     void dma_allocate(Shared_DMA *);
     void dma_deallocate(Shared_DMA *);
     void dma_init(void);
@@ -53,7 +53,7 @@ public:
     static void clear_bus(uint8_t busidx);
     static uint8_t read_sda(uint8_t busidx);
 };
-    
+
 class I2CDevice : public AP_HAL::I2CDevice {
 public:
     static I2CDevice *from(AP_HAL::I2CDevice *dev)
@@ -95,7 +95,7 @@ public:
     void set_split_transfers(bool set) override {
         _split_transfers = set;
     }
-    
+
 private:
     I2CBus &bus;
     bool _transfer(const uint8_t *send, uint32_t send_len,
@@ -115,10 +115,10 @@ public:
     friend class I2CDevice;
 
     static I2CBus businfo[];
-    
+
     // constructor
     I2CDeviceManager();
-    
+
     static I2CDeviceManager *from(AP_HAL::I2CDeviceManager *i2c_mgr)
     {
         return static_cast<I2CDeviceManager*>(i2c_mgr);
@@ -147,4 +147,3 @@ public:
 }
 
 #endif // HAL_USE_I2C
-
diff --git a/libraries/AP_HAL_ChibiOS/RCInput.cpp b/libraries/AP_HAL_ChibiOS/RCInput.cpp
index d672fe3c88..ced9e78aa0 100644
--- a/libraries/AP_HAL_ChibiOS/RCInput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCInput.cpp
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #include "RCInput.h"
@@ -73,7 +73,7 @@ bool RCInput::new_input()
             radio->init();
         }
     }
-#endif    
+#endif
     return valid;
 }
 
@@ -107,7 +107,7 @@ uint8_t RCInput::read(uint16_t* periods, uint8_t len)
     if (!_init) {
         return false;
     }
- 
+
     if (len > RC_INPUT_MAX_CHANNELS) {
         len = RC_INPUT_MAX_CHANNELS;
     }
diff --git a/libraries/AP_HAL_ChibiOS/RCInput.h b/libraries/AP_HAL_ChibiOS/RCInput.h
index 47ed354f89..a841279205 100644
--- a/libraries/AP_HAL_ChibiOS/RCInput.h
+++ b/libraries/AP_HAL_ChibiOS/RCInput.h
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #pragma once
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
index 914a5fa7e7..806b80a76d 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@@ -98,7 +98,7 @@ void RCOutput::set_freq_group(pwm_group &group)
         // speed setup in DMA handler
         return;
     }
-    
+
     uint16_t freq_set = group.rc_frequency;
     uint32_t old_clock = group.pwm_cfg.frequency;
     uint32_t old_period = group.pwm_cfg.period;
@@ -132,7 +132,7 @@ void RCOutput::set_freq_group(pwm_group &group)
     } else {
         group.pwm_cfg.period = group.pwm_cfg.frequency/freq_set;
     }
-    
+
     bool force_reconfig = false;
     for (uint8_t j=0; j<4; j++) {
         if (group.pwm_cfg.channels[j].mode == PWM_OUTPUT_ACTIVE_LOW) {
@@ -323,7 +323,7 @@ void RCOutput::write(uint8_t chan, uint16_t period_us)
     if (chan < chan_offset) {
         return;
     }
-    
+
     if (safety_state == AP_HAL::Util::SAFETY_DISARMED && !(safety_mask & (1U<<chan))) {
         // implement safety pwm value
         period_us = safe_pwm[chan];
@@ -376,7 +376,7 @@ void RCOutput::push_local(void)
                     // safety is on, overwride pwm
                     period_us = safe_pwm[chan+chan_offset];
                 }
-                
+
                 if (group.current_mode == MODE_PWM_BRUSHED) {
                     if (period_us <= _esc_pwm_min) {
                         period_us = 0;
@@ -393,12 +393,12 @@ void RCOutput::push_local(void)
                     pwmEnableChannel(group.pwm_drv, j, width);
                     // scale the period down so we don't delay for longer than we need to
                     period_us /= 8;
-                } 
+                }
                 else if (group.current_mode < MODE_PWM_DSHOT150) {
                     uint32_t width = (group.pwm_cfg.frequency/1000000U) * period_us;
                     pwmEnableChannel(group.pwm_drv, j, width);
                 }
-#ifndef DISABLE_DSHOT 
+#ifndef DISABLE_DSHOT
                 else if (is_dshot_protocol(group.current_mode) || group.current_mode == MODE_NEOPIXEL) {
                     // set period_us to time for pulse output, to enable very fast rates
                     period_us = dshot_pulse_time_us;
@@ -524,7 +524,7 @@ bool RCOutput::setup_group_DMA(pwm_group &group, uint32_t bitrate, uint32_t bit_
 
     // hold the lock during setup, to ensure there isn't a DMA operation ongoing
     group.dma_handle->lock();
-    
+
     // configure timer driver for DMAR at requested rate
     if (group.pwm_started) {
         pwmStop(group.pwm_drv);
@@ -561,10 +561,10 @@ bool RCOutput::setup_group_DMA(pwm_group &group, uint32_t bitrate, uint32_t bit_
             }
         }
     }
-    
+
     pwmStart(group.pwm_drv, &group.pwm_cfg);
     group.pwm_started = true;
-    
+
     for (uint8_t j=0; j<4; j++) {
         if (group.chan[j] != CHAN_DISABLED) {
             pwmEnableChannel(group.pwm_drv, j, 0);
@@ -579,7 +579,7 @@ bool RCOutput::setup_group_DMA(pwm_group &group, uint32_t bitrate, uint32_t bit_
 
 
 /*
-  setup output mode for a group, using group.current_mode. Used to restore output 
+  setup output mode for a group, using group.current_mode. Used to restore output
   after serial operations
  */
 void RCOutput::set_group_mode(pwm_group &group)
@@ -588,7 +588,7 @@ void RCOutput::set_group_mode(pwm_group &group)
         pwmStop(group.pwm_drv);
         group.pwm_started = false;
     }
-    
+
     switch (group.current_mode) {
     case MODE_PWM_BRUSHED:
         // force zero output initially
@@ -637,7 +637,7 @@ void RCOutput::set_group_mode(pwm_group &group)
         dshot_pulse_time_us = 1000000UL * dshot_bit_length / rate;
         break;
     }
-   
+
     case MODE_PWM_ONESHOT:
     case MODE_PWM_ONESHOT125:
         // for oneshot we set a period of 0, which results in no pulses till we trigger
@@ -655,7 +655,7 @@ void RCOutput::set_group_mode(pwm_group &group)
     }
 
     set_freq_group(group);
-    
+
     if (group.current_mode != MODE_PWM_NONE &&
         !group.pwm_started) {
         pwmStart(group.pwm_drv, &group.pwm_cfg);
@@ -788,7 +788,7 @@ void RCOutput::trigger_groups(void)
             }
         }
     }
-    
+
     /*
       calculate time that we are allowed to trigger next pulse
       to guarantee at least a 50us gap between pulses
@@ -805,7 +805,7 @@ void RCOutput::trigger_groups(void)
 void RCOutput::timer_tick(void)
 {
     safety_update();
-    
+
     uint64_t now = AP_HAL::micros64();
     for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
         pwm_group &group = pwm_group_list[i];
@@ -933,7 +933,7 @@ void RCOutput::dshot_send(pwm_group &group, bool blocking)
         // doing serial output, don't send DShot pulses
         return;
     }
-    
+
     if (blocking) {
         group.dma_handle->lock();
     } else {
@@ -941,11 +941,11 @@ void RCOutput::dshot_send(pwm_group &group, bool blocking)
             return;
         }
     }
-    
+
     bool safety_on = hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED;
 
     memset((uint8_t *)group.dma_buffer, 0, dshot_buffer_length);
-    
+
     for (uint8_t i=0; i<4; i++) {
         uint8_t chan = group.chan[i];
         if (chan != CHAN_DISABLED) {
@@ -955,7 +955,7 @@ void RCOutput::dshot_send(pwm_group &group, bool blocking)
                 // safety is on, overwride pwm
                 pwm = safe_pwm[chan+chan_offset];
             }
-            
+
             const uint16_t chan_mask = (1U<<chan);
             if (pwm == 0) {
                 // no output
@@ -1092,7 +1092,7 @@ void RCOutput::dma_irq_callback(void *p, uint32_t flags)
   baudrate. Assumes 1 start bit, 1 stop bit, LSB first and 8
   databits. This is used for passthrough ESC configuration and
   firmware flashing
-  
+
   While serial output is active normal output to the channel group is
   suspended.
 */
@@ -1102,7 +1102,7 @@ bool RCOutput::serial_setup_output(uint8_t chan, uint32_t baudrate, uint16_t cha
     chan -= chan_offset;
     chanmask >>= chan_offset;
     pwm_group *new_serial_group = nullptr;
-    
+
     // find the channel group
     for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
         pwm_group &group = pwm_group_list[i];
@@ -1149,10 +1149,10 @@ bool RCOutput::serial_setup_output(uint8_t chan, uint32_t baudrate, uint16_t cha
     serial_thread = chThdGetSelfX();
     serial_priority  = chThdGetSelfX()->realprio;
     chThdSetPriority(HIGHPRIO);
-    
+
     // remember the bit period for serial_read_byte()
     serial_group->serial.bit_time_us = 1000000UL / baudrate;
-    
+
     // remember the thread that set things up. This is also used to
     // mark the group as doing serial output, so normal output is
     // suspended
@@ -1160,7 +1160,7 @@ bool RCOutput::serial_setup_output(uint8_t chan, uint32_t baudrate, uint16_t cha
 
     return true;
 }
-        
+
 
 /*
   fill in a DMA buffer for a serial byte, assuming 1 start bit and 1 stop bit
@@ -1190,11 +1190,11 @@ void RCOutput::fill_DMA_buffer_byte(uint32_t *buffer, uint8_t stride, uint8_t b,
 bool RCOutput::serial_write_byte(uint8_t b)
 {
     chEvtGetAndClearEvents(serial_event_mask);
-    
+
     fill_DMA_buffer_byte(serial_group->dma_buffer+serial_group->serial.chan, 4, b, serial_group->bit_width_mul*10);
 
     serial_group->in_serial_dma = true;
-    
+
     // start sending the pulses out
     send_pulses_DMAR(*serial_group, 10*4*sizeof(uint32_t));
 
@@ -1202,7 +1202,7 @@ bool RCOutput::serial_write_byte(uint8_t b)
     eventmask_t mask = chEvtWaitAnyTimeout(serial_event_mask, chTimeMS2I(2));
 
     serial_group->in_serial_dma = false;
-    
+
     return (mask & serial_event_mask) != 0;
 }
 
@@ -1227,7 +1227,7 @@ bool RCOutput::serial_write_bytes(const uint8_t *bytes, uint16_t len)
     // add a small delay for last word of output to have completely
     // finished
     hal.scheduler->delay_microseconds(25);
-    
+
     serial_group->dma_handle->unlock();
     return true;
 #else
@@ -1248,7 +1248,7 @@ void RCOutput::serial_bit_irq(void)
 #if RCOU_SERIAL_TIMING_DEBUG
     palWriteLine(HAL_GPIO_LINE_GPIO55, bit);
 #endif
-    
+
     if (irq.nbits == 0 || bit == irq.last_bit) {
         // start of byte, should be low
         if (bit != 0) {
@@ -1286,7 +1286,7 @@ void RCOutput::serial_bit_irq(void)
         }
     }
     irq.last_bit = bit;
-    
+
     if (send_signal) {
         chSysLockFromISR();
         chVTResetI(&irq.serial_timeout);
@@ -1325,7 +1325,7 @@ bool RCOutput::serial_read_byte(uint8_t &b)
         }
         byteval = irq.bitmask | 0x200;
     }
-    
+
     if ((byteval & 0x201) != 0x200) {
         // wrong start/stop bits
         return false;
@@ -1354,7 +1354,7 @@ uint16_t RCOutput::serial_read_bytes(uint8_t *buf, uint16_t len)
     hal.gpio->pinMode(54, 1);
     hal.gpio->pinMode(55, 1);
 #endif
-    
+
     // assume GPIO mappings for PWM outputs start at 50
     palSetLineMode(line, gpio_mode);
 
@@ -1372,14 +1372,14 @@ uint16_t RCOutput::serial_read_bytes(uint8_t *buf, uint16_t len)
 #if RCOU_SERIAL_TIMING_DEBUG
     palWriteLine(HAL_GPIO_LINE_GPIO54, 1);
 #endif
-    
+
     if (!((GPIO *)hal.gpio)->_attach_interrupt(line, serial_bit_irq, AP_HAL::GPIO::INTERRUPT_BOTH)) {
 #if RCOU_SERIAL_TIMING_DEBUG
         palWriteLine(HAL_GPIO_LINE_GPIO54, 0);
 #endif
         return false;
     }
-    
+
     for (i=0; i<len; i++) {
         if (!serial_read_byte(buf[i])) {
             break;
@@ -1388,7 +1388,7 @@ uint16_t RCOutput::serial_read_bytes(uint8_t *buf, uint16_t len)
 
     ((GPIO *)hal.gpio)->_attach_interrupt(line, nullptr, 0);
     irq.waiter = nullptr;
-    
+
     palSetLineMode(line, restore_mode);
 #if RCOU_SERIAL_TIMING_DEBUG
     palWriteLine(HAL_GPIO_LINE_GPIO54, 0);
@@ -1509,7 +1509,7 @@ void RCOutput::safety_update(void)
         // remember mask of channels to allow with safety on
         safety_mask = boardconfig->get_safety_mask();
     }
-    
+
 #ifdef HAL_GPIO_PIN_SAFETY_IN
     // handle safety button
     bool safety_pressed = palReadLine(HAL_GPIO_PIN_SAFETY_IN);
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.h b/libraries/AP_HAL_ChibiOS/RCOutput.h
index 3e1089b525..e343508029 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.h
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.h
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #pragma once
@@ -53,7 +53,7 @@ public:
     float scale_esc_to_unity(uint16_t pwm) override {
         return 2.0 * ((float) pwm - _esc_pwm_min) / (_esc_pwm_max - _esc_pwm_min) - 1.0;
     }
-    
+
     void     cork(void) override;
     void     push(void) override;
 
@@ -72,7 +72,7 @@ public:
       in the safe state
      */
     void set_safety_pwm(uint32_t chmask, uint16_t period_us) override;
-    
+
     bool enable_px4io_sbus_out(uint16_t rate_hz) override;
 
     /*
@@ -117,7 +117,7 @@ public:
       return the number of bytes read
      */
     uint16_t serial_read_bytes(uint8_t *buf, uint16_t len) override;
-    
+
     /*
       stop serial output. This restores the previous output mode for
       the channel and any other channels that were stopped by
@@ -171,7 +171,7 @@ public:
       trigger send of neopixel data
      */
     void neopixel_send(void) override;
-    
+
 private:
     struct pwm_group {
         // only advanced timers can do high clocks needed for more than 400Hz
@@ -201,17 +201,17 @@ private:
         uint64_t last_dmar_send_us;
         virtual_timer_t dma_timeout;
         uint8_t neopixel_nleds;
-        
+
         // serial output
         struct {
             // expected time per bit
             uint32_t bit_time_us;
-            
+
             // channel to output to within group (0 to 3)
             uint8_t chan;
 
             // thread waiting for byte to be written
-            thread_t *waiter;        
+            thread_t *waiter;
         } serial;
     };
 
@@ -231,7 +231,7 @@ private:
         // bitmask of bits so far (includes start and stop bits)
         uint16_t bitmask;
 
-        // value of completed byte (includes start and stop bits)        
+        // value of completed byte (includes start and stop bits)
         uint16_t byteval;
 
         // expected time per bit in system ticks
@@ -239,7 +239,7 @@ private:
 
         // the bit value of the last bit received
         uint8_t last_bit;
-        
+
         // thread waiting for byte to be read
         thread_t *waiter;
 
@@ -248,12 +248,12 @@ private:
         bool timed_out;
     } irq;
 
-    
+
     // the group being used for serial output
     struct pwm_group *serial_group;
     thread_t *serial_thread;
     tprio_t serial_priority;
-    
+
     static pwm_group pwm_group_list[];
     uint16_t _esc_pwm_min;
     uint16_t _esc_pwm_max;
@@ -266,12 +266,12 @@ private:
 
     // number of active fmu channels
     uint8_t active_fmu_channels;
-    
+
     static const uint8_t max_channels = 16;
-    
+
     // last sent values are for all channels
     uint16_t last_sent[max_channels];
-    
+
     // these values are for the local channels. Non-local channels are handled by IOMCU
     uint32_t en_mask;
     uint16_t period[max_channels];
@@ -321,7 +321,7 @@ private:
 
     // update safety switch and LED
     void safety_update(void);
-    
+
     /*
       DShot handling
      */
@@ -341,7 +341,7 @@ private:
     bool neopixel_pending;
 
     void dma_allocate(Shared_DMA *ctx);
-    void dma_deallocate(Shared_DMA *ctx);    
+    void dma_deallocate(Shared_DMA *ctx);
     uint16_t create_dshot_packet(const uint16_t value, bool telem_request);
     void fill_DMA_buffer_dshot(uint32_t *buffer, uint8_t stride, uint16_t packet, uint16_t clockmul);
     void dshot_send(pwm_group &group, bool blocking);
diff --git a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
index 95347986e6..1404078be7 100644
--- a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
+++ b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
@@ -62,7 +62,7 @@ static const uint32_t bus_clocks[6] = {
     SPI1_CLOCK, SPI2_CLOCK, SPI3_CLOCK, SPI4_CLOCK, SPI5_CLOCK, SPI6_CLOCK
 };
 
-static const struct SPIDriverInfo {    
+static const struct SPIDriverInfo {
     SPIDriver *driver;
     uint8_t busid; // used for device IDs in parameters
     uint8_t dma_channel_rx;
@@ -79,13 +79,13 @@ SPIBus::SPIBus(uint8_t _bus) :
     bus(_bus)
 {
     chMtxObjectInit(&dma_lock);
-    
+
     // allow for sharing of DMA channels with other peripherals
     dma_handle = new Shared_DMA(spi_devices[bus].dma_channel_rx,
                                 spi_devices[bus].dma_channel_tx,
                                 FUNCTOR_BIND_MEMBER(&SPIBus::dma_allocate, void, Shared_DMA *),
                                 FUNCTOR_BIND_MEMBER(&SPIBus::dma_deallocate, void, Shared_DMA *));
-        
+
 }
 
 /*
@@ -101,13 +101,13 @@ void SPIBus::dma_allocate(Shared_DMA *ctx)
  */
 void SPIBus::dma_deallocate(Shared_DMA *ctx)
 {
-    chMtxLock(&dma_lock);    
+    chMtxLock(&dma_lock);
     // another non-SPI peripheral wants one of our DMA channels
     if (spi_started) {
         spiStop(spi_devices[bus].driver);
         spi_started = false;
     }
-    chMtxUnlock(&dma_lock);    
+    chMtxUnlock(&dma_lock);
 }
 
 
@@ -242,7 +242,7 @@ uint32_t SPIDevice::derive_freq_flag_bus(uint8_t busid, uint32_t _frequency)
         spi_clock_freq >>= 1;
         i++;
     }
-    
+
     // assuming the bitrate bits are consecutive in the CR1 register,
     // we can just multiply by BR_0 to get the right bits for the desired
     // scaling
diff --git a/libraries/AP_HAL_ChibiOS/SPIDevice.h b/libraries/AP_HAL_ChibiOS/SPIDevice.h
index a3acf9d5e3..d3963cacde 100644
--- a/libraries/AP_HAL_ChibiOS/SPIDevice.h
+++ b/libraries/AP_HAL_ChibiOS/SPIDevice.h
@@ -37,7 +37,7 @@ public:
     void dma_deallocate(Shared_DMA *ctx);
     bool spi_started;
     uint8_t slowdown;
-    
+
     // we need an additional lock in the dma_allocate and
     // dma_deallocate functions to cope with 3-way contention as we
     // have two DMA channels that we are handling with the shared_dma
@@ -82,12 +82,12 @@ public:
     bool transfer_fullduplex(const uint8_t *send, uint8_t *recv,
                              uint32_t len) override;
 
-    /* 
+    /*
      *  send N bytes of clock pulses without taking CS. This is used
      *  when initialising microSD interfaces over SPI
     */
     bool clock_pulse(uint32_t len) override;
-    
+
     /* See AP_HAL::Device::get_semaphore() */
     AP_HAL::Semaphore *get_semaphore() override;
 
diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
index 1af6aac2bb..2468cccaa0 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp
+++ b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #include <AP_HAL/AP_HAL.h>
@@ -225,7 +225,7 @@ void Scheduler::register_io_process(AP_HAL::MemberProc proc)
             return;
         }
     }
-    
+
     if (_num_io_procs < CHIBIOS_SCHEDULER_MAX_TIMER_PROCS) {
         _io_proc[_num_io_procs] = proc;
         _num_io_procs++;
@@ -268,7 +268,7 @@ void Scheduler::reboot(bool hold_in_bootloader)
 
     // disable all interrupt sources
     port_disable();
-    
+
     // reboot
     NVIC_SystemReset();
 }
diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.h b/libraries/AP_HAL_ChibiOS/Scheduler.h
index 6371be7033..f09f2e761a 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.h
+++ b/libraries/AP_HAL_ChibiOS/Scheduler.h
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #pragma once
@@ -104,7 +104,7 @@ public:
       A value of zero cancels the previous expected delay
      */
     void     expect_delay_ms(uint32_t ms) override;
-    
+
     /*
       disable interrupts and return a context that can be used to
       restore the interrupt state. This can be used to protect
@@ -163,6 +163,6 @@ private:
 
     void _run_timers();
     void _run_io(void);
-    static void thread_create_trampoline(void *ctx);    
+    static void thread_create_trampoline(void *ctx);
 };
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/Semaphores.cpp b/libraries/AP_HAL_ChibiOS/Semaphores.cpp
index 708c266167..06218b6e16 100644
--- a/libraries/AP_HAL_ChibiOS/Semaphores.cpp
+++ b/libraries/AP_HAL_ChibiOS/Semaphores.cpp
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #include <AP_HAL/AP_HAL.h>
@@ -150,4 +150,3 @@ bool Semaphore_Recursive::take_nonblocking(void)
 }
 
 #endif // CH_CFG_USE_MUTEXES
-
diff --git a/libraries/AP_HAL_ChibiOS/Semaphores.h b/libraries/AP_HAL_ChibiOS/Semaphores.h
index b2f27f6663..9ea8f93d0c 100644
--- a/libraries/AP_HAL_ChibiOS/Semaphores.h
+++ b/libraries/AP_HAL_ChibiOS/Semaphores.h
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #pragma once
diff --git a/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp b/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp
index adfa0a8db3..d13a41f0af 100644
--- a/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp
+++ b/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 
diff --git a/libraries/AP_HAL_ChibiOS/SoftSigReader.h b/libraries/AP_HAL_ChibiOS/SoftSigReader.h
index 61a4bc3a5c..3727ae0683 100644
--- a/libraries/AP_HAL_ChibiOS/SoftSigReader.h
+++ b/libraries/AP_HAL_ChibiOS/SoftSigReader.h
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #pragma once
@@ -57,4 +57,3 @@ private:
 };
 
 #endif // HAL_USE_ICU
-
diff --git a/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp b/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp
index 72bd169d61..3343766937 100644
--- a/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp
+++ b/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp
@@ -63,7 +63,7 @@ void SoftSigReaderInt::init(EICUDriver* icu_drv, eicuchannel_t chan)
     for (int i=0; i< EICU_CHANNEL_ENUM_END; i++) {
         icucfg.iccfgp[i]=nullptr;
     }
-    
+
     //configure main channel
     icucfg.iccfgp[chan] = &channel_config;
 #ifdef HAL_RCIN_IS_INVERTED
@@ -72,7 +72,7 @@ void SoftSigReaderInt::init(EICUDriver* icu_drv, eicuchannel_t chan)
     channel_config.alvl = EICU_INPUT_ACTIVE_LOW;
 #endif
     channel_config.capture_cb = nullptr;
-    
+
     //configure aux channel
     icucfg.iccfgp[aux_chan] = &aux_channel_config;
 #ifdef HAL_RCIN_IS_INVERTED
@@ -85,7 +85,7 @@ void SoftSigReaderInt::init(EICUDriver* icu_drv, eicuchannel_t chan)
     eicuStart(_icu_drv, &icucfg);
     //sets input filtering to 4 timer clock
     stm32_timer_set_input_filter(_icu_drv->tim, chan, 2);
-    //sets input for aux_chan 
+    //sets input for aux_chan
     stm32_timer_set_channel_input(_icu_drv->tim, aux_chan, 2);
     eicuEnable(_icu_drv);
 }
@@ -96,10 +96,10 @@ void SoftSigReaderInt::_irq_handler(EICUDriver *eicup, eicuchannel_t aux_channel
     pulse_t pulse;
     pulse.w0 = eicup->tim->CCR[channel];
     pulse.w1 = eicup->tim->CCR[aux_channel];
-    
+
     _singleton->sigbuf.push(pulse);
 
-    //check for missed interrupt 
+    //check for missed interrupt
     uint32_t mask = (STM32_TIM_SR_CC1OF << channel) | (STM32_TIM_SR_CC1OF << aux_channel);
     if ((eicup->tim->SR & mask) != 0) {
         //we have missed some pulses
diff --git a/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.h b/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.h
index 9b344f9a9a..7f982a49d3 100644
--- a/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.h
+++ b/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.h
@@ -47,7 +47,7 @@ private:
     static SoftSigReaderInt *_singleton;
 
     static void _irq_handler(EICUDriver *eicup, eicuchannel_t channel);
-    
+
     static eicuchannel_t get_pair_channel(eicuchannel_t channel);
     typedef struct PACKED {
         uint16_t w0;
@@ -62,4 +62,3 @@ private:
 };
 
 #endif // HAL_USE_EICU
-
diff --git a/libraries/AP_HAL_ChibiOS/Storage.cpp b/libraries/AP_HAL_ChibiOS/Storage.cpp
index 9c8c37e0e8..b9c7ae5882 100644
--- a/libraries/AP_HAL_ChibiOS/Storage.cpp
+++ b/libraries/AP_HAL_ChibiOS/Storage.cpp
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #include <AP_HAL/AP_HAL.h>
@@ -53,7 +53,7 @@ void Storage::_storage_open(void)
         return;
     }
 #endif
-        
+
     _dirty_mask.clearall();
 
 #if HAL_WITH_RAMTRON
@@ -75,7 +75,7 @@ void Storage::_storage_open(void)
 #elif defined(USE_POSIX)
     // allow for fallback to microSD based storage
     sdcard_retry();
-    
+
     log_fd = AP::FS().open(HAL_STORAGE_FILE, O_RDWR|O_CREAT);
     if (log_fd == -1) {
         hal.console->printf("open failed of " HAL_STORAGE_FILE "\n");
@@ -94,7 +94,7 @@ void Storage::_storage_open(void)
         hal.console->printf("setup failed for " HAL_STORAGE_FILE "\n");
         AP::FS().close(log_fd);
         log_fd = -1;
-        return;        
+        return;
     }
     using_filesystem = true;
 #endif
@@ -188,7 +188,7 @@ void Storage::_timer_tick(void)
             _dirty_mask.clear(i);
         }
         return;
-    } 
+    }
 #endif
 
 #ifdef USE_POSIX
@@ -205,9 +205,9 @@ void Storage::_timer_tick(void)
         }
         _dirty_mask.clear(i);
         return;
-    } 
+    }
 #endif
-    
+
 #ifdef STORAGE_FLASH_PAGE
     // save to storage backend
     _flash_write(i);
@@ -223,7 +223,7 @@ void Storage::_flash_load(void)
     _flash_page = STORAGE_FLASH_PAGE;
 
     hal.console->printf("Storage: Using flash pages %u and %u\n", _flash_page, _flash_page+1);
-    
+
     if (!_flash.init()) {
         AP_HAL::panic("unable to init flash storage");
     }
@@ -233,7 +233,7 @@ void Storage::_flash_load(void)
 }
 
 /*
-  write one storage line. This also updates _dirty_mask. 
+  write one storage line. This also updates _dirty_mask.
 */
 void Storage::_flash_write(uint16_t line)
 {
diff --git a/libraries/AP_HAL_ChibiOS/Storage.h b/libraries/AP_HAL_ChibiOS/Storage.h
index c56244d84a..03e4e5b55d 100644
--- a/libraries/AP_HAL_ChibiOS/Storage.h
+++ b/libraries/AP_HAL_ChibiOS/Storage.h
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #pragma once
@@ -69,7 +69,7 @@ private:
             FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_sector, bool, uint8_t),
             FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_ok, bool)};
 #endif
-    
+
     void _flash_load(void);
     void _flash_write(uint16_t line);
 
diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
index a35172d3a5..0c0d460148 100644
--- a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
+++ b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #include <AP_HAL/AP_HAL.h>
@@ -139,7 +139,7 @@ static int hal_console_vprintf(const char *fmt, va_list arg)
 void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
 {
     thread_init();
-    
+
     if (sdef.serial == nullptr) {
         return;
     }
@@ -150,7 +150,7 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
         // give more buffer space for log download on USB
         min_tx_buffer *= 4;
     }
-    
+
     // on PX4 we have enough memory to have a larger transmit and
     // receive buffer for all ports. This means we don't get delays
     // while waiting to write GPS config packets
@@ -184,7 +184,7 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
         }
         _baudrate = b;
     }
-    
+
     if (clear_buffers) {
         _readbuf.clear();
     }
@@ -382,9 +382,9 @@ void UARTDriver::tx_complete(void* self, uint32_t flags)
     UARTDriver* uart_drv = (UARTDriver*)self;
     chSysLockFromISR();
     if (!uart_drv->tx_bounce_buf_ready) {
-        // reset timeout 
+        // reset timeout
         chVTResetI(&uart_drv->tx_timeout);
-        
+
         uart_drv->_last_write_completed_us = AP_HAL::micros();
         uart_drv->tx_bounce_buf_ready = true;
         if (uart_drv->unbuffered_writes && uart_drv->_writebuf.available()) {
@@ -444,14 +444,14 @@ void UARTDriver::rxbuff_full_irq(void* self, uint32_t flags)
 
         uart_drv->receive_timestamp_update();
     }
-    
+
     //restart the DMA transfers
     dmaStreamSetMemory0(uart_drv->rxdma, uart_drv->rx_bounce_buf);
     dmaStreamSetTransactionSize(uart_drv->rxdma, RX_BOUNCE_BUFSIZE);
     dmaStreamEnable(uart_drv->rxdma);
     if (uart_drv->_wait.thread_ctx && uart_drv->_readbuf.available() >= uart_drv->_wait.n) {
         chSysLockFromISR();
-        chEvtSignalI(uart_drv->_wait.thread_ctx, EVT_DATA);                    
+        chEvtSignalI(uart_drv->_wait.thread_ctx, EVT_DATA);
         chSysUnlockFromISR();
     }
     if (uart_drv->_rts_is_active) {
@@ -549,7 +549,7 @@ int16_t UARTDriver::read()
     if (!_rts_is_active) {
         update_rts_line();
     }
-    
+
     return byte;
 }
 
@@ -577,7 +577,7 @@ size_t UARTDriver::write(uint8_t c)
     if (lock_write_key != 0 || !_write_mutex.take_nonblocking()) {
         return 0;
     }
-    
+
     if (!_initialised) {
         _write_mutex.give();
         return 0;
@@ -651,7 +651,7 @@ bool UARTDriver::lock_port(uint32_t write_key, uint32_t read_key)
     return true;
 }
 
-/* 
+/*
    write to a locked port. If port is locked and key is not correct then 0 is returned
    and write is discarded. All writes are non-blocking
 */
@@ -811,7 +811,7 @@ void UARTDriver::write_pending_bytes_NODMA(uint32_t n)
             nwritten += ret;
         }
         _writebuf.advance(ret);
-        
+
         /* We wrote less than we asked for, stop */
         if ((unsigned)ret != vec[i].len) {
             break;
@@ -843,7 +843,7 @@ void UARTDriver::write_pending_bytes(void)
     if (n <= 0) {
         return;
     }
-    
+
 #ifndef HAL_UART_NODMA
     if (sdef.dma_tx) {
         write_pending_bytes_DMA(n);
@@ -852,7 +852,7 @@ void UARTDriver::write_pending_bytes(void)
     {
         write_pending_bytes_NODMA(n);
     }
-    
+
     // handle AUTO flow control mode
     if (_flow_control == FLOW_CONTROL_AUTO) {
         if (_first_write_started_us == 0) {
@@ -991,7 +991,7 @@ void UARTDriver::_timer_tick(void)
             _readbuf.commit((unsigned)ret);
 
             receive_timestamp_update();
-            
+
             /* stop reading as we read less than we asked for */
             if ((unsigned)ret < vec[i].len) {
                 break;
@@ -999,7 +999,7 @@ void UARTDriver::_timer_tick(void)
         }
     }
     if (_wait.thread_ctx && _readbuf.available() >= _wait.n) {
-        chEvtSignal(_wait.thread_ctx, EVT_DATA);                    
+        chEvtSignal(_wait.thread_ctx, EVT_DATA);
     }
     if (unbuffered_writes) {
         // now send pending bytes. If we are doing "unbuffered" writes
@@ -1025,7 +1025,7 @@ void UARTDriver::set_flow_control(enum flow_control flowcontrol)
     if (sdef.rts_line == 0 || sdef.is_usb) {
         // no hw flow control available
         return;
-    }    
+    }
 #if HAL_USE_SERIAL == TRUE
     SerialDriver *sd = (SerialDriver*)(sdef.serial);
     _flow_control = flowcontrol;
@@ -1034,7 +1034,7 @@ void UARTDriver::set_flow_control(enum flow_control flowcontrol)
         return;
     }
     switch (_flow_control) {
-        
+
     case FLOW_CONTROL_DISABLE:
         // force RTS active when flow disabled
         palSetLineMode(sdef.rts_line, 1);
@@ -1096,7 +1096,7 @@ void UARTDriver::update_rts_line(void)
     }
 }
 
-/* 
+/*
    setup unbuffered writes for lower latency
  */
 bool UARTDriver::set_unbuffered_writes(bool on)
@@ -1166,7 +1166,7 @@ void UARTDriver::configure_parity(uint8_t v)
                                    SD_PARITY_ERROR);
     }
 #endif
-    
+
 #ifndef HAL_UART_NODMA
     if(sdef.dma_rx) {
         //Configure serial driver to skip handling RX packets
@@ -1189,7 +1189,7 @@ void UARTDriver::set_stop_bits(int n)
 #if HAL_USE_SERIAL
     // stop and start to take effect
     sdStop((SerialDriver*)sdef.serial);
-    
+
     switch (n) {
     case 1:
         sercfg.cr2 = _cr2_options | USART_CR2_STOP1_BITS;
@@ -1211,7 +1211,7 @@ void UARTDriver::set_stop_bits(int n)
 }
 
 
-// record timestamp of new incoming data 
+// record timestamp of new incoming data
 void UARTDriver::receive_timestamp_update(void)
 {
     _receive_timestamp[_receive_timestamp_idx^1] = AP_HAL::micros64();
@@ -1224,11 +1224,11 @@ void UARTDriver::receive_timestamp_update(void)
   time constraint, not an exact time. It is guaranteed that the
   packet did not start being received after this time, but it
   could have been in a system buffer before the returned time.
-  
+
   This takes account of the baudrate of the link. For transports
   that have no baudrate (such as USB) the time estimate may be
   less accurate.
-  
+
   A return value of zero means the HAL does not support this API
 */
 uint64_t UARTDriver::receive_time_constraint_us(uint16_t nbytes)
diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.h b/libraries/AP_HAL_ChibiOS/UARTDriver.h
index 0e921b066f..5c5731d63a 100644
--- a/libraries/AP_HAL_ChibiOS/UARTDriver.h
+++ b/libraries/AP_HAL_ChibiOS/UARTDriver.h
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #pragma once
@@ -56,11 +56,11 @@ public:
     // control optional features
     bool set_options(uint8_t options) override;
     uint8_t get_options(void) const override;
-    
+
     // write to a locked port. If port is locked and key is not correct then 0 is returned
     // and write is discarded
     size_t write_locked(const uint8_t *buffer, size_t size, uint32_t key) override;
-    
+
     struct SerialDef {
         BaseSequentialStream* serial;
         bool is_usb;
@@ -159,7 +159,7 @@ private:
     const stm32_dma_stream_t* rxdma;
     const stm32_dma_stream_t* txdma;
 #endif
-    virtual_timer_t tx_timeout;    
+    virtual_timer_t tx_timeout;
     bool _in_timer;
     bool _blocking_writes;
     bool _initialised;
@@ -201,7 +201,7 @@ private:
     event_listener_t ev_listener;
     bool parity_enabled;
 #endif
-    
+
 #ifndef HAL_UART_NODMA
     static void rx_irq_cb(void* sd);
 #endif
@@ -223,7 +223,7 @@ private:
     void write_pending_bytes(void);
 
     void receive_timestamp_update(void);
-    
+
     void thread_init();
     static void uart_thread(void *);
 };
diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp
index 8c7d2e8369..a5b3bee893 100644
--- a/libraries/AP_HAL_ChibiOS/Util.cpp
+++ b/libraries/AP_HAL_ChibiOS/Util.cpp
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #include <AP_HAL/AP_HAL.h>
@@ -133,7 +133,7 @@ void Util::set_imu_temp(float current)
     // average over temperatures to remove noise
     heater.count++;
     heater.sum += current;
-    
+
     // update once a second
     uint32_t now = AP_HAL::millis();
     if (now - heater.last_update_ms < 1000) {
@@ -158,14 +158,14 @@ void Util::set_imu_temp(float current)
 
     // limit to 65 degrees to prevent damage
     target = constrain_float(target, 0, 65);
-    
+
     float err = target - current;
 
     heater.integrator += kI * err;
     heater.integrator = constrain_float(heater.integrator, 0, 70);
 
     heater.output = constrain_float(kP * err + heater.integrator, 0, 100);
-    
+
     //hal.console->printf("integrator %.1f out=%.1f temp=%.2f err=%.2f\n", heater.integrator, heater.output, current, err);
 
 #if HAL_WITH_IO_MCU
@@ -281,16 +281,16 @@ bool Util::get_system_id(char buf[40])
 {
     uint8_t serialid[12];
     char board_name[14];
-    
+
     memcpy(serialid, (const void *)UDID_START, 12);
     strncpy(board_name, CHIBIOS_SHORT_BOARD_NAME, 13);
     board_name[13] = 0;
-    
+
     // this format is chosen to match the format used by HAL_PX4
     snprintf(buf, 40, "%s %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
              board_name,
-             (unsigned)serialid[3], (unsigned)serialid[2], (unsigned)serialid[1], (unsigned)serialid[0], 
-             (unsigned)serialid[7], (unsigned)serialid[6], (unsigned)serialid[5], (unsigned)serialid[4], 
+             (unsigned)serialid[3], (unsigned)serialid[2], (unsigned)serialid[1], (unsigned)serialid[0],
+             (unsigned)serialid[7], (unsigned)serialid[6], (unsigned)serialid[5], (unsigned)serialid[4],
              (unsigned)serialid[11], (unsigned)serialid[10], (unsigned)serialid[9],(unsigned)serialid[8]);
     buf[39] = 0;
     return true;
diff --git a/libraries/AP_HAL_ChibiOS/Util.h b/libraries/AP_HAL_ChibiOS/Util.h
index 8fa14ea4c5..5e44b851c7 100644
--- a/libraries/AP_HAL_ChibiOS/Util.h
+++ b/libraries/AP_HAL_ChibiOS/Util.h
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #pragma once
diff --git a/libraries/AP_HAL_ChibiOS/bxcan.hpp b/libraries/AP_HAL_ChibiOS/bxcan.hpp
index ba255b60a0..ceede4be3c 100644
--- a/libraries/AP_HAL_ChibiOS/bxcan.hpp
+++ b/libraries/AP_HAL_ChibiOS/bxcan.hpp
@@ -1,18 +1,18 @@
 /*
  * The MIT License (MIT)
- * 
+ *
  * Copyright (c) 2014 Pavel Kirienko
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
  * the Software without restriction, including without limitation the rights to
  * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
  * the Software, and to permit persons to whom the Software is furnished to do so,
  * subject to the following conditions:
- * 
+ *
  * The above copyright notice and this permission notice shall be included in all
  * copies or substantial portions of the Software.
- * 
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
  * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
@@ -34,7 +34,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Modified for Ardupilot by Siddharth Bharat Purohit
  */
 
@@ -327,4 +327,4 @@ constexpr unsigned long FMR_FINIT =           (1U << 0); /* Bit 0:  Filter Init
 # undef constexpr
 #endif
 #endif //!defined(STM32H7XX)
-#endif //HAL_WITH_UAVCAN
\ No newline at end of file
+#endif //HAL_WITH_UAVCAN
diff --git a/libraries/AP_HAL_ChibiOS/fdcan.hpp b/libraries/AP_HAL_ChibiOS/fdcan.hpp
index 67165833cd..0382579623 100644
--- a/libraries/AP_HAL_ChibiOS/fdcan.hpp
+++ b/libraries/AP_HAL_ChibiOS/fdcan.hpp
@@ -87,4 +87,4 @@ CanType* const Can[UAVCAN_STM32_NUM_IFACES] = {
 # undef constexpr
 #endif
 #endif //defined(STM32H7XX)
-#endif //HAL_WITH_UAVCAN
\ No newline at end of file
+#endif //HAL_WITH_UAVCAN
diff --git a/libraries/AP_HAL_ChibiOS/sdcard.cpp b/libraries/AP_HAL_ChibiOS/sdcard.cpp
index 9608051618..9906dec0a5 100644
--- a/libraries/AP_HAL_ChibiOS/sdcard.cpp
+++ b/libraries/AP_HAL_ChibiOS/sdcard.cpp
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  */
 
 #include "SPIDevice.h"
@@ -97,7 +97,7 @@ bool sdcard_init()
         return false;
     }
     device->set_slowdown(sd_slowdown);
-    
+
     mmcObjectInit(&MMCD1);
 
     mmcconfig.spip =
@@ -224,4 +224,3 @@ void spiReceiveHook(SPIDriver *spip, size_t n, void *rxbuf)
 }
 
 #endif
-
diff --git a/libraries/AP_HAL_ChibiOS/sdcard.h b/libraries/AP_HAL_ChibiOS/sdcard.h
index b4f7438885..b0bd4ab1e2 100644
--- a/libraries/AP_HAL_ChibiOS/sdcard.h
+++ b/libraries/AP_HAL_ChibiOS/sdcard.h
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  */
 #pragma once
 
diff --git a/libraries/AP_HAL_ChibiOS/shared_dma.cpp b/libraries/AP_HAL_ChibiOS/shared_dma.cpp
index a32e6161b6..25eabcda71 100644
--- a/libraries/AP_HAL_ChibiOS/shared_dma.cpp
+++ b/libraries/AP_HAL_ChibiOS/shared_dma.cpp
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #include "shared_dma.h"
diff --git a/libraries/AP_HAL_ChibiOS/shared_dma.h b/libraries/AP_HAL_ChibiOS/shared_dma.h
index a0af229752..7473fb1385 100644
--- a/libraries/AP_HAL_ChibiOS/shared_dma.h
+++ b/libraries/AP_HAL_ChibiOS/shared_dma.h
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #pragma once
@@ -37,13 +37,13 @@ public:
 
     // initialise the stream locks
     static void init(void);
-    
+
     // blocking lock call
     void lock(void);
 
     // non-blocking lock call
     bool lock_nonblock(void);
-    
+
     // unlock call. The DMA channel will not be immediately
     // deallocated. Instead it will be deallocated if another driver
     // needs it
@@ -54,17 +54,17 @@ public:
 
     // unlock call from a chSysLock zone
     void unlock_from_lockzone(void);
-    
+
     //should be called inside the destructor of Shared DMA participants
     void unregister(void);
 
     // return true if this DMA channel is being actively contended for
     // by multiple drivers
     bool has_contention(void) const { return contention; }
-    
+
     // lock all shared DMA channels. Used on reboot
     static void lock_all(void);
-    
+
 private:
     dma_allocate_fn_t allocate;
     dma_allocate_fn_t deallocate;
@@ -90,7 +90,7 @@ private:
 
     // lock one stream, non-blocking
     bool lock_stream_nonblocking(uint8_t stream_id);
-    
+
     static struct dma_lock {
         // semaphore to ensure only one peripheral uses a DMA channel at a time
 #if CH_CFG_USE_SEMAPHORES == TRUE
@@ -104,6 +104,3 @@ private:
         Shared_DMA *obj;
     } locks[SHARED_DMA_MAX_STREAM_ID+1];
 };
-
-
-
diff --git a/libraries/AP_HAL_ChibiOS/stdio.cpp b/libraries/AP_HAL_ChibiOS/stdio.cpp
index 7e5ac8e383..991cd3f126 100644
--- a/libraries/AP_HAL_ChibiOS/stdio.cpp
+++ b/libraries/AP_HAL_ChibiOS/stdio.cpp
@@ -36,11 +36,11 @@ int __wrap_snprintf(char *str, size_t size, const char *fmt, ...)
 {
    va_list arg;
    int done;
- 
+
    va_start (arg, fmt);
    done =  hal.util->vsnprintf(str, size, fmt, arg);
    va_end (arg);
- 
+
    return done;
 }
 
@@ -91,11 +91,11 @@ int __wrap_printf(const char *fmt, ...)
 #ifndef HAL_NO_PRINTF
    va_list arg;
    int done;
- 
+
    va_start (arg, fmt);
    done =  vprintf_console_hook(fmt, arg);
    va_end (arg);
- 
+
    return done;
 #else
    (void)fmt;
@@ -112,11 +112,11 @@ int __wrap_fprintf(void *f, const char *fmt, ...)
 #ifndef HAL_NO_PRINTF
    va_list arg;
    int done;
- 
+
    va_start (arg, fmt);
    done =  vprintf_console_hook(fmt, arg);
    va_end (arg);
- 
+
    return done;
 #else
    (void)fmt;
@@ -135,4 +135,3 @@ extern "C" {
     // alias fiprintf() to fprintf(). This saves flash space
     int __wrap_fiprintf(const char *fmt, ...) __attribute__((alias("__wrap_fprintf")));
 }
-
diff --git a/libraries/AP_HAL_ChibiOS/system.cpp b/libraries/AP_HAL_ChibiOS/system.cpp
index 63089d3f6e..9c5a004082 100644
--- a/libraries/AP_HAL_ChibiOS/system.cpp
+++ b/libraries/AP_HAL_ChibiOS/system.cpp
@@ -11,7 +11,7 @@
  *
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
- * 
+ *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 #include <stdarg.h>
@@ -40,7 +40,7 @@ typedef enum  {
 
 void *__dso_handle;
 
-void __cxa_pure_virtual(void);    
+void __cxa_pure_virtual(void);
 void __cxa_pure_virtual() { while (1); } //TODO: Handle properly, maybe generate a traceback
 
 void NMI_Handler(void);