diff --git a/Tools/CPUInfo/CPUInfo.cpp b/Tools/CPUInfo/CPUInfo.cpp
index 7c46579bbd..7ffb442dcd 100644
--- a/Tools/CPUInfo/CPUInfo.cpp
+++ b/Tools/CPUInfo/CPUInfo.cpp
@@ -8,6 +8,9 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
 
+void setup();
+void loop();
+
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 void setup() {
@@ -15,31 +18,31 @@ void setup() {
 
 static void show_sizes(void)
 {
-	hal.console->printf("Type sizes:\n");
-	hal.console->printf("char      : %lu\n", (unsigned long)sizeof(char));
-	hal.console->printf("short     : %lu\n", (unsigned long)sizeof(short));
-	hal.console->printf("int       : %lu\n", (unsigned long)sizeof(int));
-	hal.console->printf("long      : %lu\n", (unsigned long)sizeof(long));
-	hal.console->printf("long long : %lu\n", (unsigned long)sizeof(long long));
-	hal.console->printf("bool      : %lu\n", (unsigned long)sizeof(bool));
-	hal.console->printf("void*     : %lu\n", (unsigned long)sizeof(void *));
+    hal.console->printf("Type sizes:\n");
+    hal.console->printf("char      : %lu\n", (unsigned long)sizeof(char));
+    hal.console->printf("short     : %lu\n", (unsigned long)sizeof(short));
+    hal.console->printf("int       : %lu\n", (unsigned long)sizeof(int));
+    hal.console->printf("long      : %lu\n", (unsigned long)sizeof(long));
+    hal.console->printf("long long : %lu\n", (unsigned long)sizeof(long long));
+    hal.console->printf("bool      : %lu\n", (unsigned long)sizeof(bool));
+    hal.console->printf("void*     : %lu\n", (unsigned long)sizeof(void *));
 
-	hal.console->printf("printing NaN: %f\n", sqrt(-1.0f));
-	hal.console->printf("printing +Inf: %f\n", 1.0f/0.0f);
-	hal.console->printf("printing -Inf: %f\n", -1.0f/0.0f);
+    hal.console->printf("printing NaN: %f\n", (double)sqrtf(-1.0f));
+    hal.console->printf("printing +Inf: %f\n", (double)(1.0f/0.0f));
+    hal.console->printf("printing -Inf: %f\n", (double)(-1.0f/0.0f));
 }
 
 #define TENTIMES(x) do { x; x; x; x; x; x; x; x; x; x; } while (0)
 #define FIFTYTIMES(x) do { TENTIMES(x); TENTIMES(x); TENTIMES(x); TENTIMES(x); TENTIMES(x); } while (0)
 
 #define TIMEIT(name, op, count) do { \
-	uint32_t us_end, us_start; \
-	us_start = AP_HAL::micros(); \
-	for (uint8_t i=0; i<count; i++) { \
-		FIFTYTIMES(op);				\
-	} \
-	us_end = AP_HAL::micros(); \
-	hal.console->printf("%-10s %7.2f usec/call\n", name, double(us_end-us_start)/(count*50.0)); \
+    uint32_t us_end, us_start; \
+    us_start = AP_HAL::micros(); \
+    for (uint8_t i = 0; i < count; i++) { \
+        FIFTYTIMES(op); \
+    } \
+    us_end = AP_HAL::micros(); \
+    hal.console->printf("%-10s %7.2f usec/call\n", name, double(us_end - us_start) / (count * 50.0)); \
 } while (0)
 
 volatile float v_f = 1.0;
@@ -59,78 +62,78 @@ volatile uint64_t v_out_64 = 1;
 static void show_timings(void)
 {
 
-	v_f = 1+(AP_HAL::micros() % 5);
-	v_out = 1+(AP_HAL::micros() % 3);
+    v_f = 1+(AP_HAL::micros() % 5);
+    v_out = 1+(AP_HAL::micros() % 3);
 
-	v_32 = 1+(AP_HAL::micros() % 5);
-	v_out_32 = 1+(AP_HAL::micros() % 3);
+    v_32 = 1+(AP_HAL::micros() % 5);
+    v_out_32 = 1+(AP_HAL::micros() % 3);
 
-	v_16 = 1+(AP_HAL::micros() % 5);
-	v_out_16 = 1+(AP_HAL::micros() % 3);
+    v_16 = 1+(AP_HAL::micros() % 5);
+    v_out_16 = 1+(AP_HAL::micros() % 3);
 
-	v_8 = 1+(AP_HAL::micros() % 5);
-	v_out_8 = 1+(AP_HAL::micros() % 3);
+    v_8 = 1+(AP_HAL::micros() % 5);
+    v_out_8 = 1+(AP_HAL::micros() % 3);
 
 
-	hal.console->printf("Operation timings:\n");
-	hal.console->printf("Note: timings for some operations are very data dependent\n");
+    hal.console->printf("Operation timings:\n");
+    hal.console->printf("Note: timings for some operations are very data dependent\n");
 
-	TIMEIT("nop", asm volatile("nop"::), 255);
+    TIMEIT("nop", asm volatile("nop"::), 255);
 
-	TIMEIT("micros()", AP_HAL::micros(), 200);
-	TIMEIT("millis()", AP_HAL::millis(), 200);
+    TIMEIT("micros()", AP_HAL::micros(), 200);
+    TIMEIT("millis()", AP_HAL::millis(), 200);
 
-	TIMEIT("fadd", v_out += v_f, 100);
-	TIMEIT("fsub", v_out -= v_f, 100);
-	TIMEIT("fmul", v_out *= v_f, 100);
-	TIMEIT("fdiv /=", v_out /= v_f, 100);
+    TIMEIT("fadd", v_out += v_f, 100);
+    TIMEIT("fsub", v_out -= v_f, 100);
+    TIMEIT("fmul", v_out *= v_f, 100);
+    TIMEIT("fdiv /=", v_out /= v_f, 100);
     TIMEIT("fdiv 2/x", v_out = 2.0f/v_f, 100);
 
-	TIMEIT("dadd", v_out_d += v_d, 100);
-	TIMEIT("dsub", v_out_d -= v_d, 100);
-	TIMEIT("dmul", v_out_d *= v_d, 100);
-	TIMEIT("ddiv", v_out_d /= v_d, 100);
+    TIMEIT("dadd", v_out_d += v_d, 100);
+    TIMEIT("dsub", v_out_d -= v_d, 100);
+    TIMEIT("dmul", v_out_d *= v_d, 100);
+    TIMEIT("ddiv", v_out_d /= v_d, 100);
 
-	TIMEIT("sin()", v_out = sinf(v_f), 20);
-	TIMEIT("cos()", v_out = cosf(v_f), 20);
-	TIMEIT("tan()", v_out = tanf(v_f), 20);
-	TIMEIT("acos()", v_out = acosf(v_f * 0.2), 20);
-	TIMEIT("asin()", v_out = asinf(v_f * 0.2), 20);
-	TIMEIT("atan2()", v_out = atan2f(v_f * 0.2, v_f * 0.3), 20);
-	TIMEIT("sqrt()",v_out = sqrtf(v_f), 20);
+    TIMEIT("sin()", v_out = sinf(v_f), 20);
+    TIMEIT("cos()", v_out = cosf(v_f), 20);
+    TIMEIT("tan()", v_out = tanf(v_f), 20);
+    TIMEIT("acos()", v_out = acosf(v_f * 0.2), 20);
+    TIMEIT("asin()", v_out = asinf(v_f * 0.2), 20);
+    TIMEIT("atan2()", v_out = atan2f(v_f * 0.2, v_f * 0.3), 20);
+    TIMEIT("sqrt()",v_out = sqrtf(v_f), 20);
 
-	TIMEIT("iadd8", v_out_8 += v_8, 100);
-	TIMEIT("isub8", v_out_8 -= v_8, 100);
-	TIMEIT("imul8", v_out_8 *= v_8, 100);
-	TIMEIT("idiv8", v_out_8 /= v_8, 100);
+    TIMEIT("iadd8", v_out_8 += v_8, 100);
+    TIMEIT("isub8", v_out_8 -= v_8, 100);
+    TIMEIT("imul8", v_out_8 *= v_8, 100);
+    TIMEIT("idiv8", v_out_8 /= v_8, 100);
 
-	TIMEIT("iadd16", v_out_16 += v_16, 100);
-	TIMEIT("isub16", v_out_16 -= v_16, 100);
-	TIMEIT("imul16", v_out_16 *= v_16, 100);
-	TIMEIT("idiv16", v_out_16 /= v_16, 100);
+    TIMEIT("iadd16", v_out_16 += v_16, 100);
+    TIMEIT("isub16", v_out_16 -= v_16, 100);
+    TIMEIT("imul16", v_out_16 *= v_16, 100);
+    TIMEIT("idiv16", v_out_16 /= v_16, 100);
 
-	TIMEIT("iadd32", v_out_32 += v_32, 100);
-	TIMEIT("isub32", v_out_32 -= v_32, 100);
-	TIMEIT("imul32", v_out_32 *= v_32, 100);
-	TIMEIT("idiv32", v_out_32 /= v_32, 100);
+    TIMEIT("iadd32", v_out_32 += v_32, 100);
+    TIMEIT("isub32", v_out_32 -= v_32, 100);
+    TIMEIT("imul32", v_out_32 *= v_32, 100);
+    TIMEIT("idiv32", v_out_32 /= v_32, 100);
 
-	TIMEIT("iadd64", v_out_64 += v_64, 100);
-	TIMEIT("isub64", v_out_64 -= v_64, 100);
-	TIMEIT("imul64", v_out_64 *= v_64, 100);
-	TIMEIT("idiv64", v_out_64 /= v_64, 100);
+    TIMEIT("iadd64", v_out_64 += v_64, 100);
+    TIMEIT("isub64", v_out_64 -= v_64, 100);
+    TIMEIT("imul64", v_out_64 *= v_64, 100);
+    TIMEIT("idiv64", v_out_64 /= v_64, 100);
 
-	TIMEIT("memcpy128", memcpy((void*)mbuf1, (const void *)mbuf2, sizeof(mbuf1)), 20);
-	TIMEIT("memset128", memset((void*)mbuf1, 1, sizeof(mbuf1)), 20);
-	TIMEIT("delay(1)", hal.scheduler->delay(1), 5);
+    TIMEIT("memcpy128", memcpy((void*)mbuf1, (const void *)mbuf2, sizeof(mbuf1)), 20);
+    TIMEIT("memset128", memset((void*)mbuf1, 1, sizeof(mbuf1)), 20);
+    TIMEIT("delay(1)", hal.scheduler->delay(1), 5);
 }
 
 void loop()
 {
-	show_sizes();
-	hal.console->printf("\n");
-	show_timings();
-	hal.console->printf("\n");
-	hal.scheduler->delay(3000);
+    show_sizes();
+    hal.console->printf("\n");
+    show_timings();
+    hal.console->printf("\n");
+    hal.scheduler->delay(3000);
 }
 
 AP_HAL_MAIN();