diff --git a/examples/dsptest/test_foc.c b/examples/dsptest/test_foc.c
index ccb454b10..0c8f0c638 100644
--- a/examples/dsptest/test_foc.c
+++ b/examples/dsptest/test_foc.c
@@ -102,7 +102,7 @@ static void test_foc_init(void)
 
   foc_vbase_update(&foc, 0.1);
 
-  TEST_ASSERT_EQUAL_FLOAT(0.1, 1.0/foc.vab_mod_scale);
+  TEST_ASSERT_EQUAL_FLOAT(0.1, 1.0 / foc.vab_mod_scale);
   TEST_ASSERT_EQUAL_FLOAT(0.1, foc.vdq_mag_max);
 }
 
diff --git a/examples/dsptest/test_misc.c b/examples/dsptest/test_misc.c
index 2996f2b41..62a551023 100644
--- a/examples/dsptest/test_misc.c
+++ b/examples/dsptest/test_misc.c
@@ -270,7 +270,7 @@ static void test_fast_sin(void)
 
   /* Compare with LIBC sine */
 
-  for(angle = 0.0; angle < 2*M_PI_F; angle += TEST_SINCOS_ANGLE_STEP)
+  for (angle = 0.0; angle < 2 * M_PI_F; angle += TEST_SINCOS_ANGLE_STEP)
     {
       s_ref = sinf(angle);
       s     = fast_sin(angle);
@@ -289,7 +289,7 @@ static void test_fast_cos(void)
 
   /* Compare with LIBC cosine */
 
-  for(angle = 0.0; angle < 2*M_PI_F; angle += TEST_SINCOS_ANGLE_STEP)
+  for (angle = 0.0; angle < 2 * M_PI_F; angle += TEST_SINCOS_ANGLE_STEP)
     {
       c_ref = cosf(angle);
       c     = fast_cos(angle);
@@ -308,7 +308,7 @@ static void test_fast_sin2(void)
 
   /* Compare with LIBC sine */
 
-  for(angle = 0.0; angle < 2*M_PI_F; angle += TEST_SINCOS2_ANGLE_STEP)
+  for (angle = 0.0; angle < 2 * M_PI_F; angle += TEST_SINCOS2_ANGLE_STEP)
     {
       s_ref = sinf(angle);
       s     = fast_sin2(angle);
@@ -327,7 +327,7 @@ static void test_fast_cos2(void)
 
   /* Compare with LIBC cosine */
 
-  for(angle = 0.0; angle < 2*M_PI_F; angle += TEST_SINCOS2_ANGLE_STEP)
+  for (angle = 0.0; angle < 2 * M_PI_F; angle += TEST_SINCOS2_ANGLE_STEP)
     {
       c_ref = cosf(angle);
       c     = fast_cos2(angle);
@@ -574,7 +574,7 @@ static void test_phase_angle_update(void)
   c   = ANGLE_COS(val);
   phase_angle_update(&angle, val);
 
-  TEST_ASSERT_EQUAL_FLOAT(val-2*M_PI_F, angle.angle);
+  TEST_ASSERT_EQUAL_FLOAT(val - 2 * M_PI_F, angle.angle);
   TEST_ASSERT_EQUAL_FLOAT(s, angle.sin);
   TEST_ASSERT_EQUAL_FLOAT(c, angle.cos);
 
@@ -585,7 +585,7 @@ static void test_phase_angle_update(void)
   c   = ANGLE_COS(val);
   phase_angle_update(&angle, val);
 
-  TEST_ASSERT_EQUAL_FLOAT(val+2*M_PI_F, angle.angle);
+  TEST_ASSERT_EQUAL_FLOAT(val + 2 * M_PI_F, angle.angle);
   TEST_ASSERT_EQUAL_FLOAT(s, angle.sin);
   TEST_ASSERT_EQUAL_FLOAT(c, angle.cos);
 }
diff --git a/examples/dsptest/test_motor.c b/examples/dsptest/test_motor.c
index bf8a9bba7..3dde2ae75 100644
--- a/examples/dsptest/test_motor.c
+++ b/examples/dsptest/test_motor.c
@@ -155,7 +155,7 @@ static void test_openloop_many_steps(void)
 
   /* Do some iterations in CW direction */
 
-  for (i = 0; i < iter; i+=1)
+  for (i = 0; i < iter; i += 1)
     {
       motor_openloop(&op, speed, DIR_CW);
     }
@@ -174,7 +174,7 @@ static void test_openloop_many_steps(void)
 
   /* Do some iterations in CCW direction */
 
-  for (i = 0; i < iter; i+=1)
+  for (i = 0; i < iter; i += 1)
     {
       motor_openloop(&op, speed, DIR_CCW);
     }
@@ -218,7 +218,7 @@ static void test_openloop_normalize_angle(void)
 
   /* Do many iterations to exceed 2PI range */
 
-  for (i = 0; i < iter; i+=1)
+  for (i = 0; i < iter; i += 1)
     {
       motor_openloop(&op, speed, DIR_CW);
     }
@@ -233,9 +233,9 @@ static void test_openloop_normalize_angle(void)
 
   /* And normalize to <0.0, 2*PI> */
 
-  while (expected > 2*M_PI_F)
+  while (expected > 2 * M_PI_F)
     {
-      expected -= 2*M_PI_F;
+      expected -= 2 * M_PI_F;
     }
 
   /* Test angle */
@@ -265,7 +265,7 @@ static void test_angle_init(void)
   TEST_ASSERT_EQUAL_FLOAT(0.0, angle_e);
   TEST_ASSERT_EQUAL_FLOAT(0.0, angle_m);
   TEST_ASSERT_EQUAL_UINT8(p, angle.p);
-  TEST_ASSERT_EQUAL_FLOAT((float)1.0/p, angle.one_by_p);
+  TEST_ASSERT_EQUAL_FLOAT((float)1.0 / p, angle.one_by_p);
   TEST_ASSERT_EQUAL_INT8(0, angle.i);
 }
 
@@ -313,7 +313,7 @@ static void test_angle_el_update_cw(void)
 
   angle_step = 0.1;
   expected_e = 0.1;
-  expected_m = 0.1/p;
+  expected_m = 0.1 / p;
   s = sin(expected_e);
   c = cos(expected_e);
 
@@ -336,14 +336,14 @@ static void test_angle_el_update_cw(void)
 
   angle_step = 2 * M_PI_F + 0.2;
   expected_e = 0.2;
-  expected_m = angle_step/p;
+  expected_m = angle_step / p;
   s = sin(expected_e);
   c = cos(expected_e);
 
   /* Move in a few steps */
 
   motor_angle_e_update(&angle, M_PI_F, DIR_CW);
-  motor_angle_e_update(&angle, 2*M_PI_F, DIR_CW);
+  motor_angle_e_update(&angle, 2 * M_PI_F, DIR_CW);
   motor_angle_e_update(&angle, 0.2, DIR_CW);
 
   angle_m = motor_angle_m_get(&angle);
@@ -381,9 +381,9 @@ static void test_angle_el_update_ccw(void)
    * We start from 0.0 and move angle CCW by 0.1.
    */
 
-  angle_step = MOTOR_ANGLE_E_MAX-0.1;
+  angle_step = MOTOR_ANGLE_E_MAX - 0.1;
   expected_e = angle_step;
-  expected_m = (p-1)*MOTOR_ANGLE_M_MAX/p + expected_e/p;
+  expected_m = (p - 1) * MOTOR_ANGLE_M_MAX / p + expected_e / p;
   s = sin(expected_e);
   c = cos(expected_e);
 
@@ -397,22 +397,22 @@ static void test_angle_el_update_ccw(void)
   TEST_ASSERT_EQUAL_FLOAT(expected_e, angle_e);
   TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, s, angle.angle_el.sin);
   TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, c, angle.angle_el.cos);
-  TEST_ASSERT_EQUAL_INT8(p-1, angle.i);
+  TEST_ASSERT_EQUAL_INT8(p - 1, angle.i);
   TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m);
 
   /* Update electrical angle with 2PI+0.1 in CCW direction in three steps */
 
   angle_step = (MOTOR_ANGLE_E_MAX + 0.1);
-  expected_e = MOTOR_ANGLE_E_MAX-0.1;
-  expected_m = (p-2)*MOTOR_ANGLE_M_MAX/p + expected_e/p;
+  expected_e = MOTOR_ANGLE_E_MAX - 0.1;
+  expected_m = (p - 2) * MOTOR_ANGLE_M_MAX / p + expected_e / p;
   s = sin(expected_e);
   c = cos(expected_e);
 
   /* Move in a few steps */
 
-  motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX-M_PI_F, DIR_CCW);
-  motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX-2*M_PI_F, DIR_CCW);
-  motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX-0.1, DIR_CCW);
+  motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX - M_PI_F, DIR_CCW);
+  motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX - 2 * M_PI_F, DIR_CCW);
+  motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX - 0.1, DIR_CCW);
 
   angle_m = motor_angle_m_get(&angle);
   angle_e = motor_angle_e_get(&angle);
@@ -422,7 +422,7 @@ static void test_angle_el_update_ccw(void)
   TEST_ASSERT_EQUAL_FLOAT(expected_e, angle_e);
   TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, s, angle.angle_el.sin);
   TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, c, angle.angle_el.cos);
-  TEST_ASSERT_EQUAL_INT8(p-2, angle.i);
+  TEST_ASSERT_EQUAL_INT8(p - 2, angle.i);
   TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m);
 }
 
@@ -451,7 +451,7 @@ static void test_angle_el_update_cw_overflow(void)
 
   angle_step = 0.1;
   expected_e = angle_step;
-  expected_m = angle_step/p;
+  expected_m = angle_step / p;
   s = sin(expected_e);
   c = cos(expected_e);
 
@@ -467,7 +467,7 @@ static void test_angle_el_update_cw_overflow(void)
 
   /* Test poles counter before final step */
 
-  TEST_ASSERT_EQUAL_INT8(p-1, angle.i);
+  TEST_ASSERT_EQUAL_INT8(p - 1, angle.i);
 
   /* One more step after overflow mechanical angle */
 
@@ -511,7 +511,7 @@ static void test_angle_el_update_ccw_overflow(void)
 
   angle_step = 0.1;
   expected_e = MOTOR_ANGLE_E_MAX - angle_step;
-  expected_m = MOTOR_ANGLE_M_MAX - angle_step/p;
+  expected_m = MOTOR_ANGLE_M_MAX - angle_step / p;
   s = sin(expected_e);
   c = cos(expected_e);
 
@@ -572,7 +572,7 @@ static void test_angle_el_change_dir(void)
    */
 
   angle_step = 0.1;
-  expected_m = 4*MOTOR_ANGLE_M_MAX/p + angle_step/p;
+  expected_m = 4 * MOTOR_ANGLE_M_MAX / p + angle_step / p;
   expected_e = 0.1;
   s = sin(expected_e);
   c = cos(expected_e);
@@ -609,7 +609,7 @@ static void test_angle_el_change_dir(void)
   /* Now move angle backward  2*(2PI) + 0.1 */
 
   angle_step = 0.1;
-  expected_m = 2*MOTOR_ANGLE_M_MAX/p - angle_step/p;
+  expected_m = 2 * MOTOR_ANGLE_M_MAX / p - angle_step / p;
   expected_e = MOTOR_ANGLE_E_MAX - angle_step;
   s = sin(expected_e);
   c = cos(expected_e);
@@ -630,7 +630,7 @@ static void test_angle_el_change_dir(void)
 
   /* And rest 0.1 */
 
-  motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX-angle_step, DIR_CCW);
+  motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX - angle_step, DIR_CCW);
 
   angle_m = motor_angle_m_get(&angle);
   angle_e = motor_angle_e_get(&angle);
@@ -646,7 +646,7 @@ static void test_angle_el_change_dir(void)
   /* and again in forward direction 4*(2PI) + 0.1 */
 
   angle_step = 0.1;
-  expected_m = 5*MOTOR_ANGLE_M_MAX/p + angle_step/p;
+  expected_m = 5 * MOTOR_ANGLE_M_MAX / p + angle_step / p;
   expected_e = 0.1;
   s = sin(expected_e);
   c = cos(expected_e);
@@ -725,7 +725,7 @@ static void test_angle_m_update_cw(void)
 
   angle_step = 0.1;
   expected_m = angle_step;
-  expected_e = angle_step*p - 0*MOTOR_ANGLE_E_MAX/p;
+  expected_e = angle_step * p - 0*MOTOR_ANGLE_E_MAX / p;
   s = sin(expected_e);
   c = cos(expected_e);
 
@@ -744,18 +744,18 @@ static void test_angle_m_update_cw(void)
 
   /* Update mechanical angle to get one electrical angle rotation + 0.1 */
 
-  angle_step = MOTOR_ANGLE_M_MAX/p + 0.1;
+  angle_step = MOTOR_ANGLE_M_MAX / p + 0.1;
   expected_m = angle_step;
-  expected_e = angle_step*p - 1*MOTOR_ANGLE_E_MAX;
+  expected_e = angle_step * p - 1 * MOTOR_ANGLE_E_MAX;
 
   s = sin(expected_e);
   c = cos(expected_e);
 
   /* Move in a few steps */
 
-  motor_angle_m_update(&angle, angle_step/3, DIR_CW);
-  motor_angle_m_update(&angle, 2*angle_step/3, DIR_CW);
-  motor_angle_m_update(&angle, 3*angle_step/3, DIR_CW);
+  motor_angle_m_update(&angle, angle_step / 3, DIR_CW);
+  motor_angle_m_update(&angle, 2 * angle_step / 3, DIR_CW);
+  motor_angle_m_update(&angle, 3 * angle_step / 3, DIR_CW);
 
   angle_m = motor_angle_m_get(&angle);
   angle_e = motor_angle_e_get(&angle);
@@ -790,12 +790,13 @@ static void test_angle_m_update_ccw(void)
 
   /* Update mechanical angle with 1.0
    * For 8 poles, one electrical angle rotationa takes ~0.785.
-   * So with angle step = 1.0 we have 1 electical angle rotation plus some rest.
+   * So with angle step = 1.0 we have 1 electical angle rotation plus
+   * some rest.
    */
 
   angle_step = 1.0;
   expected_m = angle_step;
-  expected_e = angle_step*p - 1*MOTOR_ANGLE_E_MAX;
+  expected_e = angle_step * p - 1 * MOTOR_ANGLE_E_MAX;
   s = sin(expected_e);
   c = cos(expected_e);
 
@@ -814,17 +815,17 @@ static void test_angle_m_update_ccw(void)
 
   /* Update mechanical angle to get one electrical angle rotation */
 
-  angle_step = angle_step - MOTOR_ANGLE_E_MAX/p;
+  angle_step = angle_step - MOTOR_ANGLE_E_MAX / p;
   expected_m = angle_step;
-  expected_e = angle_step*p;
+  expected_e = angle_step * p;
   s = sin(expected_e);
   c = cos(expected_e);
 
   /* Move in a few steps */
 
-  motor_angle_m_update(&angle, angle_step/3, DIR_CCW);
-  motor_angle_m_update(&angle, 2*angle_step/3, DIR_CCW);
-  motor_angle_m_update(&angle, 3*angle_step/3, DIR_CCW);
+  motor_angle_m_update(&angle, angle_step / 3, DIR_CCW);
+  motor_angle_m_update(&angle, 2 * angle_step / 3, DIR_CCW);
+  motor_angle_m_update(&angle, 3 * angle_step / 3, DIR_CCW);
 
   angle_m = motor_angle_m_get(&angle);
   angle_e = motor_angle_e_get(&angle);
@@ -861,18 +862,18 @@ static void test_angle_m_update_cw_overflow(void)
 
   angle_step = 0.1;
   expected_m = angle_step;
-  expected_e = 0*MOTOR_ANGLE_E_MAX/p + angle_step*p;
+  expected_e = 0 * MOTOR_ANGLE_E_MAX / p + angle_step * p;
   s = sin(expected_e);
   c = cos(expected_e);
 
   /* Move in a few steps */
 
   motor_angle_m_update(&angle, 0.0, DIR_CW);
-  motor_angle_m_update(&angle, MOTOR_ANGLE_M_MAX/4, DIR_CW);
-  motor_angle_m_update(&angle, 1*MOTOR_ANGLE_M_MAX/4, DIR_CW);
-  motor_angle_m_update(&angle, 2*MOTOR_ANGLE_M_MAX/4, DIR_CW);
-  motor_angle_m_update(&angle, 3*MOTOR_ANGLE_M_MAX/4, DIR_CW);
-  motor_angle_m_update(&angle, 4*MOTOR_ANGLE_M_MAX/4, DIR_CW);
+  motor_angle_m_update(&angle, MOTOR_ANGLE_M_MAX / 4, DIR_CW);
+  motor_angle_m_update(&angle, 1 * MOTOR_ANGLE_M_MAX / 4, DIR_CW);
+  motor_angle_m_update(&angle, 2 * MOTOR_ANGLE_M_MAX / 4, DIR_CW);
+  motor_angle_m_update(&angle, 3 * MOTOR_ANGLE_M_MAX / 4, DIR_CW);
+  motor_angle_m_update(&angle, 4 * MOTOR_ANGLE_M_MAX / 4, DIR_CW);
   motor_angle_m_update(&angle, angle_step, DIR_CW);
 
   angle_m = motor_angle_m_get(&angle);
@@ -910,17 +911,17 @@ static void test_angle_m_update_ccw_overflow(void)
 
   angle_step = MOTOR_ANGLE_M_MAX - 0.1;
   expected_m = angle_step;
-  expected_e = MOTOR_ANGLE_E_MAX - 0.1*p;
+  expected_e = MOTOR_ANGLE_E_MAX - 0.1 * p;
   s = sin(expected_e);
   c = cos(expected_e);
 
   /* Move in a few steps */
 
   motor_angle_m_update(&angle, 0.0, DIR_CCW);
-  motor_angle_m_update(&angle, 4*MOTOR_ANGLE_M_MAX/4, DIR_CCW);
-  motor_angle_m_update(&angle, 3*MOTOR_ANGLE_M_MAX/4, DIR_CCW);
-  motor_angle_m_update(&angle, 2*MOTOR_ANGLE_M_MAX/4, DIR_CCW);
-  motor_angle_m_update(&angle, 1*MOTOR_ANGLE_M_MAX/4, DIR_CCW);
+  motor_angle_m_update(&angle, 4 * MOTOR_ANGLE_M_MAX / 4, DIR_CCW);
+  motor_angle_m_update(&angle, 3 * MOTOR_ANGLE_M_MAX / 4, DIR_CCW);
+  motor_angle_m_update(&angle, 2 * MOTOR_ANGLE_M_MAX / 4, DIR_CCW);
+  motor_angle_m_update(&angle, 1 * MOTOR_ANGLE_M_MAX / 4, DIR_CCW);
   motor_angle_m_update(&angle, angle_step, DIR_CCW);
 
   angle_m = motor_angle_m_get(&angle);
@@ -932,7 +933,7 @@ static void test_angle_m_update_ccw_overflow(void)
   TEST_ASSERT_EQUAL_FLOAT(expected_e, angle_e);
   TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, s, angle.angle_el.sin);
   TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, c, angle.angle_el.cos);
-  TEST_ASSERT_EQUAL_INT8(p-1, angle.i);
+  TEST_ASSERT_EQUAL_INT8(p - 1, angle.i);
 }
 
 /* Update mechanical angle and change direction */
@@ -957,19 +958,19 @@ static void test_angle_m_change_dir(void)
 
   /* Move mechanical angle by 3*(2PI)/4 in CW direction */
 
-  angle_step = 3*MOTOR_ANGLE_M_MAX/4;
+  angle_step = 3 * MOTOR_ANGLE_M_MAX / 4;
   expected_m = angle_step;
-  expected_i = ((int)(angle_step*p/MOTOR_ANGLE_M_MAX));
-  expected_e = angle_step*p - expected_i*MOTOR_ANGLE_E_MAX;
+  expected_i = ((int)(angle_step * p / MOTOR_ANGLE_M_MAX));
+  expected_e = angle_step * p - expected_i * MOTOR_ANGLE_E_MAX;
   s = sin(expected_e);
   c = cos(expected_e);
 
   /* Move in a few steps */
 
   motor_angle_m_update(&angle, 0.0, DIR_CW);
-  motor_angle_m_update(&angle, 1*MOTOR_ANGLE_M_MAX/4, DIR_CW);
-  motor_angle_m_update(&angle, 2*MOTOR_ANGLE_M_MAX/4, DIR_CW);
-  motor_angle_m_update(&angle, 3*MOTOR_ANGLE_M_MAX/4, DIR_CW);
+  motor_angle_m_update(&angle, 1 * MOTOR_ANGLE_M_MAX / 4, DIR_CW);
+  motor_angle_m_update(&angle, 2 * MOTOR_ANGLE_M_MAX / 4, DIR_CW);
+  motor_angle_m_update(&angle, 3 * MOTOR_ANGLE_M_MAX / 4, DIR_CW);
 
   angle_m = motor_angle_m_get(&angle);
   angle_e = motor_angle_e_get(&angle);
@@ -984,15 +985,15 @@ static void test_angle_m_change_dir(void)
 
   /* Move mechanical angle by 1.0 in CCW direction */
 
-  angle_step = 3*MOTOR_ANGLE_M_MAX/4 - 2.0;
+  angle_step = 3 * MOTOR_ANGLE_M_MAX / 4 - 2.0;
   expected_m = angle_step;
-  expected_i = ((int)(angle_step*p/MOTOR_ANGLE_M_MAX));
-  expected_e = angle_step*p - expected_i*MOTOR_ANGLE_E_MAX;
+  expected_i = ((int)(angle_step * p / MOTOR_ANGLE_M_MAX));
+  expected_e = angle_step * p - expected_i * MOTOR_ANGLE_E_MAX;
   s = sin(expected_e);
   c = cos(expected_e);
 
-  motor_angle_m_update(&angle, 3*MOTOR_ANGLE_M_MAX/4-1.0, DIR_CCW);
-  motor_angle_m_update(&angle, 3*MOTOR_ANGLE_M_MAX/4-2.0, DIR_CCW);
+  motor_angle_m_update(&angle, 3 * MOTOR_ANGLE_M_MAX / 4 - 1.0, DIR_CCW);
+  motor_angle_m_update(&angle, 3 * MOTOR_ANGLE_M_MAX / 4 - 2.0, DIR_CCW);
 
   angle_m = motor_angle_m_get(&angle);
   angle_e = motor_angle_e_get(&angle);
@@ -1032,19 +1033,19 @@ static void test_angle_m_el_mixed(void)
    * rotations + 0.1 in CW direction
    */
 
-  angle_step = 4*MOTOR_ANGLE_M_MAX/p + 0.1;
+  angle_step = 4 * MOTOR_ANGLE_M_MAX / p + 0.1;
   expected_m = angle_step;
-  expected_i = ((int)(angle_step*p/MOTOR_ANGLE_M_MAX));
-  expected_e = angle_step*p - expected_i*MOTOR_ANGLE_E_MAX;
+  expected_i = ((int)(angle_step * p / MOTOR_ANGLE_M_MAX));
+  expected_e = angle_step * p - expected_i * MOTOR_ANGLE_E_MAX;
   s = sin(expected_e);
   c = cos(expected_e);
 
   /* Move in a few steps */
 
   motor_angle_m_update(&angle, 0.0, DIR_CW);
-  motor_angle_m_update(&angle, MOTOR_ANGLE_M_MAX/p, DIR_CW);
-  motor_angle_m_update(&angle, 4*MOTOR_ANGLE_M_MAX/p, DIR_CW);
-  motor_angle_m_update(&angle, 4*MOTOR_ANGLE_M_MAX/p + 0.1, DIR_CW);
+  motor_angle_m_update(&angle, MOTOR_ANGLE_M_MAX / p, DIR_CW);
+  motor_angle_m_update(&angle, 4 * MOTOR_ANGLE_M_MAX / p, DIR_CW);
+  motor_angle_m_update(&angle, 4 * MOTOR_ANGLE_M_MAX / p + 0.1, DIR_CW);
 
   angle_m = motor_angle_m_get(&angle);
   angle_e = motor_angle_e_get(&angle);
@@ -1062,16 +1063,16 @@ static void test_angle_m_el_mixed(void)
    * angle reduced by 2 electrical rotations.
    */
 
-  angle_step = 2*MOTOR_ANGLE_E_MAX;
+  angle_step = 2 * MOTOR_ANGLE_E_MAX;
   expected_i = expected_i - 2;
   expected_e = expected_e;
-  expected_m = expected_m - 2*MOTOR_ANGLE_M_MAX/p;
+  expected_m = expected_m - 2 * MOTOR_ANGLE_M_MAX / p;
   s = sin(expected_e);
   c = cos(expected_e);
 
   /* Move angle in loop */
 
-  for (i = 0; i < 2; i+=1)
+  for (i = 0; i < 2; i += 1)
     {
       for (a = expected_e ; a >= 0.0; a -= 0.1)
         {
diff --git a/examples/dsptest/test_observer.c b/examples/dsptest/test_observer.c
index bfbd91c76..fd9f74630 100644
--- a/examples/dsptest/test_observer.c
+++ b/examples/dsptest/test_observer.c
@@ -82,7 +82,7 @@ static void test_observer_init(void)
   struct motor_observer_s        o;
   float per = 1e-11;
 
-  motor_observer_init(&o, (void*)&ao, (void*)&so, per);
+  motor_observer_init(&o, (void *)&ao, (void *)&so, per);
 
   TEST_ASSERT_EQUAL_FLOAT(0.0, o.angle);
   TEST_ASSERT_EQUAL_FLOAT(0.0, o.speed);
@@ -107,8 +107,8 @@ static void test_observer_smo_init(void)
 
   TEST_ASSERT_EQUAL_FLOAT(kslide, ao.k_slide);
   TEST_ASSERT_EQUAL_FLOAT(err_max, ao.err_max);
-  TEST_ASSERT_EQUAL_FLOAT(0.0, ao.F_gain);
-  TEST_ASSERT_EQUAL_FLOAT(0.0, ao.G_gain);
+  TEST_ASSERT_EQUAL_FLOAT(0.0, ao.F);
+  TEST_ASSERT_EQUAL_FLOAT(0.0, ao.G);
   TEST_ASSERT_EQUAL_FLOAT(0.0, ao.emf_lp_filter1);
   TEST_ASSERT_EQUAL_FLOAT(0.0, ao.emf_lp_filter2);
   TEST_ASSERT_EQUAL_FLOAT(0.0, ao.emf.a);
@@ -133,14 +133,21 @@ static void test_observer_smo_zeros(void)
   struct motor_observer_smo_s    ao;
   struct motor_observer_s        o;
   struct motor_phy_params_s      phy;
-  ab_frame_t i_ab    = {0.0, 0.0};
-  ab_frame_t v_ab    = {0.0, 0.0};
+  ab_frame_t i_ab;
+  ab_frame_t v_ab;
   float      k_slide = 1.0;
   float      err_max = 1.0;
   float      per     = 1e-6;
   float      angle   = 0.0;
   int        i       = 0;
 
+  /* Initialize ab frames */
+
+  i_ab.a = 0.0f;
+  i_ab.b = 0.0f;
+  v_ab.a = 0.0f;
+  v_ab.b = 0.0f;
+
   /* Initialize motor physical parameters */
 
   phy.p   = 8;
@@ -164,7 +171,7 @@ static void test_observer_smo_zeros(void)
   v_ab.a = 0.0;
   v_ab.b = 0.0;
 
-  for (i = 0; i< 1000000; i+=1)
+  for (i = 0; i < 1000000; i += 1)
     {
       motor_observer_smo(&o, &i_ab, &v_ab, &phy, DIR_CW);
     }
@@ -175,7 +182,7 @@ static void test_observer_smo_zeros(void)
 
   TEST_ASSERT_EQUAL_FLOAT(M_PI_F, angle);
 
-  for (i = 0; i< 1000000; i+=1)
+  for (i = 0; i < 1000000; i += 1)
     {
       motor_observer_smo(&o, &i_ab, &v_ab, &phy, DIR_CCW);
     }
@@ -237,7 +244,7 @@ static void test_sobserver_div_init(void)
   motor_sobserver_div_init(&so, samples, filter, per);
 
   TEST_ASSERT_EQUAL_FLOAT(filter, so.filter);
-  TEST_ASSERT_EQUAL_FLOAT(1.0/(samples*per), so.one_by_dt);
+  TEST_ASSERT_EQUAL_FLOAT(1.0 / (samples * per), so.one_by_dt);
   TEST_ASSERT_EQUAL_UINT8(samples, so.samples);
 }
 
@@ -267,7 +274,7 @@ static void test_sobserver_div_zeros(void)
 
   expected_s = 0.0;
 
-  for(i = 0; i < 1000; i += 1)
+  for (i = 0; i < 1000; i += 1)
     {
       motor_sobserver_div(&o, 0.0, DIR_CW);
     }
@@ -282,7 +289,7 @@ static void test_sobserver_div_zeros(void)
 
   expected_s = 0.0;
 
-  for(i = 0; i < 1000; i += 1)
+  for (i = 0; i < 1000; i += 1)
     {
       motor_sobserver_div(&o, 0.0, DIR_CCW);
     }
diff --git a/examples/dsptest/test_pid.c b/examples/dsptest/test_pid.c
index e67f64caf..d40fb2024 100644
--- a/examples/dsptest/test_pid.c
+++ b/examples/dsptest/test_pid.c
@@ -116,7 +116,7 @@ static void test_pi_controller_zeros(void)
 
   pid_saturation_set(&pi, min, max);
 
-  for (i=0; i< 10000; i+=1)
+  for (i = 0; i < 10000; i += 1)
     {
       pi_controller(&pi, 0.0);
     }
@@ -233,7 +233,7 @@ static void test_pi_controller_saturation(void)
 
   /* Feed controller */
 
-  for (i=0; i< 1000; i+=1)
+  for (i = 0; i < 1000; i += 1)
     {
       pi_controller(&pi, 0.01);
       TEST_ASSERT_LESS_OR_EQUAL(max, pi.out);
@@ -242,7 +242,7 @@ static void test_pi_controller_saturation(void)
 
   /* Feed controller */
 
-  for (i=0; i< 1000; i+=1)
+  for (i = 0; i < 1000; i += 1)
     {
       pi_controller(&pi, -0.01);
       TEST_ASSERT_GREATER_OR_EQUAL(min, pi.out);
@@ -271,7 +271,7 @@ static void test_pi_windup_protection(void)
 
   /* Feed controller */
 
-  for (i=0; i< 1000; i+=1)
+  for (i = 0; i < 1000; i += 1)
     {
       pi_controller(&pi, 0.01);
       TEST_ASSERT_LESS_OR_EQUAL(max, pi.part[1]);
@@ -279,7 +279,7 @@ static void test_pi_windup_protection(void)
 
   /* Feed controller */
 
-  for (i=0; i< 1000; i+=1)
+  for (i = 0; i < 1000; i += 1)
     {
       pi_controller(&pi, -0.01);
       TEST_ASSERT_GREATER_OR_EQUAL(min, pi.part[1]);
@@ -343,7 +343,7 @@ static void test_pid_controller_zeros(void)
 
   pid_saturation_set(&pid, min, max);
 
-  for (i=0; i< 10000; i+=1)
+  for (i = 0; i < 10000; i += 1)
     {
       pid_controller(&pid, 0.0);
     }
@@ -469,7 +469,7 @@ static void test_pid_controller_saturation(void)
 
   /* Feed controller */
 
-  for (i=0; i< 1000; i+=1)
+  for (i = 0; i < 1000; i += 1)
     {
       pid_controller(&pid, 0.01);
       TEST_ASSERT_LESS_OR_EQUAL(max, pid.out);
@@ -478,7 +478,7 @@ static void test_pid_controller_saturation(void)
 
   /* Feed controller */
 
-  for (i=0; i< 1000; i+=1)
+  for (i = 0; i < 1000; i += 1)
     {
       pid_controller(&pid, -0.01);
       TEST_ASSERT_GREATER_OR_EQUAL(min, pid.out);
diff --git a/examples/dsptest/test_svm.c b/examples/dsptest/test_svm.c
index d96660f5b..72455dc1c 100644
--- a/examples/dsptest/test_svm.c
+++ b/examples/dsptest/test_svm.c
@@ -110,7 +110,6 @@ static void test_svm3_saturation(void)
   TEST_ASSERT_EQUAL_FLOAT(SVM3_DUTY_MIN, s.d_w);
   TEST_ASSERT_EQUAL_INT8(1, s.sector);
 
-
   /* v_a = -1.0
    * v_b = -1.0
    * mag(v_ab) > 1.0 which is not valid for SVM
diff --git a/examples/dsptest/test_transform.c b/examples/dsptest/test_transform.c
index d315d7a1a..c7630b465 100644
--- a/examples/dsptest/test_transform.c
+++ b/examples/dsptest/test_transform.c
@@ -210,7 +210,7 @@ static void test_transform_park(void)
 
   /* angle = -PI/2, alpha = 1.0, beta = 1.0 -> d = -1.0, q = 1.0 */
 
-  phase_angle_update(&angle, -M_PI_F/2);
+  phase_angle_update(&angle, -M_PI_F / 2);
   ab.a = 1.0;
   ab.b = 1.0;
   park_transform(&angle, &ab, &dq);
@@ -269,7 +269,7 @@ static void test_transform_invpark(void)
 
   /* angle = -PI/2, d = 1.0, q = 1.0 -> alpha = 0.0, beta = 0.0 */
 
-  phase_angle_update(&angle, -M_PI_F/2);
+  phase_angle_update(&angle, -M_PI_F / 2);
   dq.d = 1.0;
   dq.q = 1.0;
   inv_park_transform(&angle, &dq, &ab);