diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index ac34fe89..d00a6ca4 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -22,9 +22,18 @@ jobs:
       - name: Check Python formatting and linting
         run: scripts/format_py.sh check
 
+  cpp_lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v7
+      - name: Install uncrustify
+        run: sudo apt-get update && sudo apt-get install -y uncrustify
+      - name: Check C++ formatting
+        run: scripts/format_cpp.sh check examples/slave
+
   # Build C++ and Build Wheels
   build_x86:
-    needs: py_lint
+    needs: [py_lint, cpp_lint]
     name: Build C++ (${{ matrix.os }}${{ matrix.preset && format(' - {0}', matrix.preset) || '' }})
     runs-on: ${{ matrix.os }}
     strategy:
@@ -107,7 +116,7 @@ jobs:
   # Sanitizer build + unit tests: ASan + LSan + UBSan (catches overflows, use-after-free, leaks,
   # and undefined behaviour; alignment is excluded for the packed EtherCAT frame layer).
   build_sanitizers:
-    needs: py_lint
+    needs: [py_lint, cpp_lint]
     name: Build C++ (ASan + UBSan)
     runs-on: ubuntu-latest
     env:
@@ -134,7 +143,7 @@ jobs:
         shell: bash
 
   build_arm64:
-    needs: py_lint
+    needs: [py_lint, cpp_lint]
     name: Build C++ (ARM64 - ${{ matrix.preset }})
     runs-on: ubuntu-24.04-arm
     strategy:
@@ -170,7 +179,7 @@ jobs:
           retention-days: 1
 
   build-wheels:
-    needs: py_lint
+    needs: [py_lint, cpp_lint]
     name: Build Python Wheels (${{ matrix.os }})
     runs-on: ${{ matrix.os }}
     strategy:
@@ -332,7 +341,7 @@ jobs:
 
   # NuttX Builds
   build_NuttX:
-    needs: py_lint
+    needs: [py_lint, cpp_lint]
     runs-on: ubuntu-latest
     continue-on-error: ${{ matrix.nuttx.label == 'master' }}
     strategy:
diff --git a/examples/slave/common/xpg_strerror_r.cc b/examples/slave/common/xpg_strerror_r.cc
index 09b9b1ef..9223dd04 100644
--- a/examples/slave/common/xpg_strerror_r.cc
+++ b/examples/slave/common/xpg_strerror_r.cc
@@ -7,7 +7,7 @@
 // Uses GNU strerror internally, but provides thread-safe semantics
 // by copying into a thread-local buffer.
 // To use if the symbol is not defined (i.e. NuttX + GCC 14 ARM toolchain)
-extern "C" int __xpg_strerror_r(int errnum, char *buf, size_t buflen)
+extern "C" int __xpg_strerror_r(int errnum, char* buf, size_t buflen)
 {
     if (buf == nullptr or buflen == 0)
     {
diff --git a/examples/slave/nuttx/lan9252/arduino-due/main.cc b/examples/slave/nuttx/lan9252/arduino-due/main.cc
index 303232a8..75a1d4bd 100644
--- a/examples/slave/nuttx/lan9252/arduino-due/main.cc
+++ b/examples/slave/nuttx/lan9252/arduino-due/main.cc
@@ -13,10 +13,10 @@
 using namespace kickcat;
 
 
-int main(int argc, char *argv[])
+int main(int argc, char* argv[])
 {
-    (void) argc;
-    (void) argv;
+    (void)argc;
+    (void)argv;
     std::shared_ptr<SPI> spi_driver = std::make_shared<SPI>();
     spi_driver->open("/dev/spi0", 0, 0, 10000000);
 
@@ -59,11 +59,11 @@ int main(int argc, char *argv[])
     {
         slave.routine();
         // Print received data
-    //    for (uint8_t i = 0; i < PDO_MAX_SIZE; ++i)
-    //    {
-    //        printf("%x", buffer_out[i]);
-    //    }
-    //    printf("\n");
+        //    for (uint8_t i = 0; i < PDO_MAX_SIZE; ++i)
+        //    {
+        //        printf("%x", buffer_out[i]);
+        //    }
+        //    printf("\n");
 
         if (slave.state() == State::SAFE_OP)
         {
diff --git a/examples/slave/nuttx/lan9252/freedom-k64f/main.cc b/examples/slave/nuttx/lan9252/freedom-k64f/main.cc
index 98322893..78e47ff9 100644
--- a/examples/slave/nuttx/lan9252/freedom-k64f/main.cc
+++ b/examples/slave/nuttx/lan9252/freedom-k64f/main.cc
@@ -17,7 +17,7 @@
 
 using namespace kickcat;
 
-int main(int argc, char *argv[])
+int main(int argc, char* argv[])
 {
     (void)argc;
     (void)argv;
@@ -94,16 +94,16 @@ int main(int argc, char *argv[])
 
     bool pdo_configured = false;
 
-    int16_t *ax = nullptr;
-    int16_t *ay = nullptr;
-    int16_t *az = nullptr;
-    int16_t *mx = nullptr;
-    int16_t *my = nullptr;
-    int16_t *mz = nullptr;
+    int16_t* ax = nullptr;
+    int16_t* ay = nullptr;
+    int16_t* az = nullptr;
+    int16_t* mx = nullptr;
+    int16_t* my = nullptr;
+    int16_t* mz = nullptr;
 
-    uint8_t *led_r = nullptr;
-    uint8_t *led_g = nullptr;
-    uint8_t *led_b = nullptr;
+    uint8_t* led_r = nullptr;
+    uint8_t* led_g = nullptr;
+    uint8_t* led_b = nullptr;
 
     while (true)
     {
@@ -132,7 +132,6 @@ int main(int argc, char *argv[])
         }
         else if (state == State::OPERATIONAL)
         {
-
             if (read(sensor_fd, &sensor_data, sizeof(sensor_data)) == sizeof(sensor_data))
             {
                 *ax = sensor_data.accel.x;
diff --git a/examples/slave/nuttx/lan9252/freedom-k64f/od_populator.cc b/examples/slave/nuttx/lan9252/freedom-k64f/od_populator.cc
index 4e12af08..4dbe8271 100644
--- a/examples/slave/nuttx/lan9252/freedom-k64f/od_populator.cc
+++ b/examples/slave/nuttx/lan9252/freedom-k64f/od_populator.cc
@@ -16,7 +16,7 @@ namespace kickcat::CoE
                 "Device Type",
                 {}
             };
-            CoE::addEntry<uint32_t>(object,0,32,0,CoE::Access::READ,CoE::DataType::UNSIGNED32,"",0x0);
+            CoE::addEntry<uint32_t>(object, 0, 32, 0, CoE::Access::READ, CoE::DataType::UNSIGNED32, "", 0x0);
             dictionary.push_back(std::move(object));
         }
 
@@ -28,11 +28,11 @@ namespace kickcat::CoE
                 "Identity Object",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,CoE::Access::READ,CoE::DataType::UNSIGNED8,"Subindex 000",0x4);
-            CoE::addEntry<uint32_t>(object,1,32,8,CoE::Access::READ,CoE::DataType::UNSIGNED32,"Vendor ID",0x6a5);
-            CoE::addEntry<uint32_t>(object,2,32,40,CoE::Access::READ,CoE::DataType::UNSIGNED32,"Product code",0xb0cad0);
-            CoE::addEntry<uint32_t>(object,3,32,72,CoE::Access::READ,CoE::DataType::UNSIGNED32,"Revision number",0x0);
-            CoE::addEntry<uint32_t>(object,4,32,104,CoE::Access::READ,CoE::DataType::UNSIGNED32,"Serial number",0xcafedeca);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, CoE::Access::READ, CoE::DataType::UNSIGNED8, "Subindex 000", 0x4);
+            CoE::addEntry<uint32_t>(object, 1, 32, 8, CoE::Access::READ, CoE::DataType::UNSIGNED32, "Vendor ID", 0x6a5);
+            CoE::addEntry<uint32_t>(object, 2, 32, 40, CoE::Access::READ, CoE::DataType::UNSIGNED32, "Product code", 0xb0cad0);
+            CoE::addEntry<uint32_t>(object, 3, 32, 72, CoE::Access::READ, CoE::DataType::UNSIGNED32, "Revision number", 0x0);
+            CoE::addEntry<uint32_t>(object, 4, 32, 104, CoE::Access::READ, CoE::DataType::UNSIGNED32, "Serial number", 0xcafedeca);
             dictionary.push_back(std::move(object));
         }
 
@@ -44,10 +44,10 @@ namespace kickcat::CoE
                 "RxPDO Map 1",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,CoE::Access::READ | CoE::Access::WRITE,CoE::DataType::UNSIGNED8,"Subindex 000",0x3);
-            CoE::addEntry<uint32_t>(object,1,32,8,CoE::Access::READ | CoE::Access::WRITE,CoE::DataType::UNSIGNED32,"RxPDO Map 1 Element 1",0x70000008);
-            CoE::addEntry<uint32_t>(object,2,32,40,CoE::Access::READ | CoE::Access::WRITE,CoE::DataType::UNSIGNED32,"RxPDO Map 1 Element 2",0x70010008);
-            CoE::addEntry<uint32_t>(object,3,32,72,CoE::Access::READ | CoE::Access::WRITE,CoE::DataType::UNSIGNED32,"RxPDO Map 1 Element 3",0x70020008);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, CoE::Access::READ | CoE::Access::WRITE, CoE::DataType::UNSIGNED8, "Subindex 000", 0x3);
+            CoE::addEntry<uint32_t>(object, 1, 32, 8, CoE::Access::READ | CoE::Access::WRITE, CoE::DataType::UNSIGNED32, "RxPDO Map 1 Element 1", 0x70000008);
+            CoE::addEntry<uint32_t>(object, 2, 32, 40, CoE::Access::READ | CoE::Access::WRITE, CoE::DataType::UNSIGNED32, "RxPDO Map 1 Element 2", 0x70010008);
+            CoE::addEntry<uint32_t>(object, 3, 32, 72, CoE::Access::READ | CoE::Access::WRITE, CoE::DataType::UNSIGNED32, "RxPDO Map 1 Element 3", 0x70020008);
             dictionary.push_back(std::move(object));
         }
 
@@ -59,13 +59,13 @@ namespace kickcat::CoE
                 "TxPDO Map 1",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,CoE::Access::READ | CoE::Access::WRITE,CoE::DataType::UNSIGNED8,"Subindex 000",0x6);
-            CoE::addEntry<uint32_t>(object,1,32,8,CoE::Access::READ | CoE::Access::WRITE,CoE::DataType::UNSIGNED32,"TxPDO Map 1 Element 1",0x60000010);
-            CoE::addEntry<uint32_t>(object,2,32,40,CoE::Access::READ | CoE::Access::WRITE,CoE::DataType::UNSIGNED32,"TxPDO Map 1 Element 2",0x60010010);
-            CoE::addEntry<uint32_t>(object,3,32,72,CoE::Access::READ | CoE::Access::WRITE,CoE::DataType::UNSIGNED32,"TxPDO Map 1 Element 3",0x60020010);
-            CoE::addEntry<uint32_t>(object,4,32,104,CoE::Access::READ | CoE::Access::WRITE,CoE::DataType::UNSIGNED32,"TxPDO Map 1 Element 4",0x60030010);
-            CoE::addEntry<uint32_t>(object,5,32,136,CoE::Access::READ | CoE::Access::WRITE,CoE::DataType::UNSIGNED32,"TxPDO Map 1 Element 5",0x60040010);
-            CoE::addEntry<uint32_t>(object,6,32,168,CoE::Access::READ | CoE::Access::WRITE,CoE::DataType::UNSIGNED32,"TxPDO Map 1 Element 6",0x60050010);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, CoE::Access::READ | CoE::Access::WRITE, CoE::DataType::UNSIGNED8, "Subindex 000", 0x6);
+            CoE::addEntry<uint32_t>(object, 1, 32, 8, CoE::Access::READ | CoE::Access::WRITE, CoE::DataType::UNSIGNED32, "TxPDO Map 1 Element 1", 0x60000010);
+            CoE::addEntry<uint32_t>(object, 2, 32, 40, CoE::Access::READ | CoE::Access::WRITE, CoE::DataType::UNSIGNED32, "TxPDO Map 1 Element 2", 0x60010010);
+            CoE::addEntry<uint32_t>(object, 3, 32, 72, CoE::Access::READ | CoE::Access::WRITE, CoE::DataType::UNSIGNED32, "TxPDO Map 1 Element 3", 0x60020010);
+            CoE::addEntry<uint32_t>(object, 4, 32, 104, CoE::Access::READ | CoE::Access::WRITE, CoE::DataType::UNSIGNED32, "TxPDO Map 1 Element 4", 0x60030010);
+            CoE::addEntry<uint32_t>(object, 5, 32, 136, CoE::Access::READ | CoE::Access::WRITE, CoE::DataType::UNSIGNED32, "TxPDO Map 1 Element 5", 0x60040010);
+            CoE::addEntry<uint32_t>(object, 6, 32, 168, CoE::Access::READ | CoE::Access::WRITE, CoE::DataType::UNSIGNED32, "TxPDO Map 1 Element 6", 0x60050010);
             dictionary.push_back(std::move(object));
         }
 
@@ -77,11 +77,11 @@ namespace kickcat::CoE
                 "Sync manager type",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,CoE::Access::READ,CoE::DataType::UNSIGNED8,"Subindex 0",0x4);
-            CoE::addEntry<uint8_t>(object,1,8,8,CoE::Access::READ,CoE::DataType::UNSIGNED8,"Subindex 1",0x1);
-            CoE::addEntry<uint8_t>(object,2,8,16,CoE::Access::READ,CoE::DataType::UNSIGNED8,"Subindex 2",0x2);
-            CoE::addEntry<uint8_t>(object,3,8,24,CoE::Access::READ,CoE::DataType::UNSIGNED8,"Subindex 3",0x3);
-            CoE::addEntry<uint8_t>(object,4,8,32,CoE::Access::READ,CoE::DataType::UNSIGNED8,"Subindex 4",0x4);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, CoE::Access::READ, CoE::DataType::UNSIGNED8, "Subindex 0", 0x4);
+            CoE::addEntry<uint8_t>(object, 1, 8, 8, CoE::Access::READ, CoE::DataType::UNSIGNED8, "Subindex 1", 0x1);
+            CoE::addEntry<uint8_t>(object, 2, 8, 16, CoE::Access::READ, CoE::DataType::UNSIGNED8, "Subindex 2", 0x2);
+            CoE::addEntry<uint8_t>(object, 3, 8, 24, CoE::Access::READ, CoE::DataType::UNSIGNED8, "Subindex 3", 0x3);
+            CoE::addEntry<uint8_t>(object, 4, 8, 32, CoE::Access::READ, CoE::DataType::UNSIGNED8, "Subindex 4", 0x4);
             dictionary.push_back(std::move(object));
         }
 
@@ -93,8 +93,8 @@ namespace kickcat::CoE
                 "RxPDO assign",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,CoE::Access::READ | CoE::Access::WRITE_PREOP,CoE::DataType::UNSIGNED8,"Subindex 000",0x1);
-            CoE::addEntry<uint16_t>(object,1,16,8,CoE::Access::READ | CoE::Access::WRITE_PREOP,CoE::DataType::UNSIGNED16,"RxPDO assign Element 1",0x1600);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, CoE::Access::READ | CoE::Access::WRITE_PREOP, CoE::DataType::UNSIGNED8, "Subindex 000", 0x1);
+            CoE::addEntry<uint16_t>(object, 1, 16, 8, CoE::Access::READ | CoE::Access::WRITE_PREOP, CoE::DataType::UNSIGNED16, "RxPDO assign Element 1", 0x1600);
             dictionary.push_back(std::move(object));
         }
 
@@ -106,8 +106,8 @@ namespace kickcat::CoE
                 "TxPDO assign",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,CoE::Access::READ | CoE::Access::WRITE_PREOP,CoE::DataType::UNSIGNED8,"Subindex 000",0x1);
-            CoE::addEntry<uint16_t>(object,1,16,8,CoE::Access::READ | CoE::Access::WRITE_PREOP,CoE::DataType::UNSIGNED16,"TxPDO assign Element 1",0x1a00);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, CoE::Access::READ | CoE::Access::WRITE_PREOP, CoE::DataType::UNSIGNED8, "Subindex 000", 0x1);
+            CoE::addEntry<uint16_t>(object, 1, 16, 8, CoE::Access::READ | CoE::Access::WRITE_PREOP, CoE::DataType::UNSIGNED16, "TxPDO assign Element 1", 0x1a00);
             dictionary.push_back(std::move(object));
         }
 
@@ -119,7 +119,7 @@ namespace kickcat::CoE
                 "accel_x",
                 {}
             };
-            CoE::addEntry<int16_t>(object,0,16,0,CoE::Access::READ | CoE::Access::TxPDO,CoE::DataType::INTEGER16,"accel_x",0);
+            CoE::addEntry<int16_t>(object, 0, 16, 0, CoE::Access::READ | CoE::Access::TxPDO, CoE::DataType::INTEGER16, "accel_x", 0);
             dictionary.push_back(std::move(object));
         }
 
@@ -131,7 +131,7 @@ namespace kickcat::CoE
                 "accel_y",
                 {}
             };
-            CoE::addEntry<int16_t>(object,0,16,0,CoE::Access::READ | CoE::Access::TxPDO,CoE::DataType::INTEGER16,"accel_y",0);
+            CoE::addEntry<int16_t>(object, 0, 16, 0, CoE::Access::READ | CoE::Access::TxPDO, CoE::DataType::INTEGER16, "accel_y", 0);
             dictionary.push_back(std::move(object));
         }
 
@@ -143,7 +143,7 @@ namespace kickcat::CoE
                 "accel_z",
                 {}
             };
-            CoE::addEntry<int16_t>(object,0,16,0,CoE::Access::READ | CoE::Access::TxPDO,CoE::DataType::INTEGER16,"accel_z",0);
+            CoE::addEntry<int16_t>(object, 0, 16, 0, CoE::Access::READ | CoE::Access::TxPDO, CoE::DataType::INTEGER16, "accel_z", 0);
             dictionary.push_back(std::move(object));
         }
 
@@ -155,7 +155,7 @@ namespace kickcat::CoE
                 "mag_x",
                 {}
             };
-            CoE::addEntry<int16_t>(object,0,16,0,CoE::Access::READ | CoE::Access::TxPDO,CoE::DataType::INTEGER16,"mag_x",0);
+            CoE::addEntry<int16_t>(object, 0, 16, 0, CoE::Access::READ | CoE::Access::TxPDO, CoE::DataType::INTEGER16, "mag_x", 0);
             dictionary.push_back(std::move(object));
         }
 
@@ -167,7 +167,7 @@ namespace kickcat::CoE
                 "mag_y",
                 {}
             };
-            CoE::addEntry<int16_t>(object,0,16,0,CoE::Access::READ | CoE::Access::TxPDO,CoE::DataType::INTEGER16,"mag_y",0);
+            CoE::addEntry<int16_t>(object, 0, 16, 0, CoE::Access::READ | CoE::Access::TxPDO, CoE::DataType::INTEGER16, "mag_y", 0);
             dictionary.push_back(std::move(object));
         }
 
@@ -179,7 +179,7 @@ namespace kickcat::CoE
                 "mag_z",
                 {}
             };
-            CoE::addEntry<int16_t>(object,0,16,0,CoE::Access::READ | CoE::Access::TxPDO,CoE::DataType::INTEGER16,"mag_z",0);
+            CoE::addEntry<int16_t>(object, 0, 16, 0, CoE::Access::READ | CoE::Access::TxPDO, CoE::DataType::INTEGER16, "mag_z", 0);
             dictionary.push_back(std::move(object));
         }
 
@@ -191,7 +191,7 @@ namespace kickcat::CoE
                 "LED_R",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,CoE::Access::WRITE | CoE::Access::RxPDO,CoE::DataType::UNSIGNED8,"LED_R",0);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, CoE::Access::WRITE | CoE::Access::RxPDO, CoE::DataType::UNSIGNED8, "LED_R", 0);
             dictionary.push_back(std::move(object));
         }
 
@@ -203,7 +203,7 @@ namespace kickcat::CoE
                 "LED_G",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,CoE::Access::WRITE | CoE::Access::RxPDO,CoE::DataType::UNSIGNED8,"LED_G",0);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, CoE::Access::WRITE | CoE::Access::RxPDO, CoE::DataType::UNSIGNED8, "LED_G", 0);
             dictionary.push_back(std::move(object));
         }
 
@@ -215,10 +215,10 @@ namespace kickcat::CoE
                 "LED_B",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,CoE::Access::WRITE | CoE::Access::RxPDO,CoE::DataType::UNSIGNED8,"LED_B",0);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, CoE::Access::WRITE | CoE::Access::RxPDO, CoE::DataType::UNSIGNED8, "LED_B", 0);
             dictionary.push_back(std::move(object));
         }
 
-         return dictionary;
+        return dictionary;
     }
 }
diff --git a/examples/slave/nuttx/xmc4800/main_foot.cc b/examples/slave/nuttx/xmc4800/main_foot.cc
index 78ca4777..1197d503 100644
--- a/examples/slave/nuttx/xmc4800/main_foot.cc
+++ b/examples/slave/nuttx/xmc4800/main_foot.cc
@@ -20,7 +20,7 @@ namespace foot
         int16_t gyroscopeZ;
 
         int16_t temperature; // Celsius degrees
-    }__attribute__((packed));
+    } __attribute__((packed));
 
     struct Input
     {
@@ -43,7 +43,7 @@ namespace foot
     } __attribute__((packed));
 }
 
-int main(int, char *[])
+int main(int, char*[])
 {
     using namespace kickcat;
 
diff --git a/examples/slave/nuttx/xmc4800/main_relax.cc b/examples/slave/nuttx/xmc4800/main_relax.cc
index da2236b6..f0043245 100644
--- a/examples/slave/nuttx/xmc4800/main_relax.cc
+++ b/examples/slave/nuttx/xmc4800/main_relax.cc
@@ -12,26 +12,26 @@ using namespace kickcat;
 int main(int, char*[])
 {
     printf("XMC hello relax\n");
-    
+
     XMC4800 esc;
     XMC4800EEPROM eeprom;
     PDO pdo(&esc);
     slave::Slave slave(&esc, &pdo);
-    
+
     eeprom.init();
-    
+
     uint16_t al_status;
     uint16_t al_control;
     esc.read(reg::AL_STATUS, &al_status, sizeof(al_status));
     esc.read(reg::AL_CONTROL, &al_control, sizeof(al_control));
     printf("al_status %x al_control %x  \n", al_status, al_control);
-    
+
     // The master can request less inputs/ouputs and these buffers are the space
     // that the slave app allocated to let the master play with the mapping.
     constexpr uint32_t PDO_MAX_SIZE = 32;
     uint8_t buffer_in[PDO_MAX_SIZE];
     uint8_t buffer_out[PDO_MAX_SIZE];
-    
+
     // Init values
     for (uint32_t i = 0; i < PDO_MAX_SIZE; ++i)
     {
@@ -47,29 +47,29 @@ int main(int, char*[])
     slave.setDictionary(&dictionary);   // and the slave uses it for bind / PDO mapping
     pdo.setInput(buffer_in, PDO_MAX_SIZE);
     pdo.setOutput(buffer_out, PDO_MAX_SIZE);
-    
+
     uint8_t esc_config;
     esc.read(reg::ESC_CONFIG, &esc_config, sizeof(esc_config));
     bool is_emulated = esc_config & PDI_EMULATION;
     printf("esc config 0x%x, is emulated %i \n", esc_config, is_emulated);
-    
+
     uint8_t pdi_config;
     esc.read(reg::PDI_CONFIGURATION, &pdi_config, sizeof(pdi_config));
     printf("pdi config 0x%x \n", pdi_config);
-    
+
     slave.start();
-    
+
     // Variables for toggling pattern
     uint32_t iteration_counter = 0;
     uint8_t current_value = 0x11;  // Start with 0x11
 
     constexpr uint32_t ITER = 10000; // Number of iterations before updating input buffer
-    
+
     while (true)
     {
         eeprom.process();
         slave.routine();
-        
+
         if (slave.state() == State::SAFE_OP)
         {
             if (buffer_out[1] != 0xFF)
@@ -77,19 +77,19 @@ int main(int, char*[])
                 slave.validateOutputData();
             }
         }
-        
+
         // Update input buffer every ITER iterations
         iteration_counter++;
         if (iteration_counter >= ITER)
         {
             iteration_counter = 0;
-            
+
             // Fill buffer with current value
             for (uint32_t i = 0; i < PDO_MAX_SIZE; ++i)
             {
                 buffer_in[i] = current_value;
             }
-            
+
             // Move to next value: 0x11 -> 0x22 -> 0x33 -> ... -> 0xFF -> 0x00 -> 0x11
             if (current_value == 0xFF)
             {
@@ -98,9 +98,9 @@ int main(int, char*[])
             else
             {
                 current_value += 0x11;
-            }            
+            }
         }
     }
-    
+
     return 0;
 }
diff --git a/examples/slave/nuttx/xmc4800/od_populator.cc b/examples/slave/nuttx/xmc4800/od_populator.cc
index 56eeacd0..54871cc3 100644
--- a/examples/slave/nuttx/xmc4800/od_populator.cc
+++ b/examples/slave/nuttx/xmc4800/od_populator.cc
@@ -16,7 +16,7 @@ namespace kickcat::CoE
                 "Device Type",
                 {}
             };
-            CoE::addEntry<uint32_t>(object,0,32,0,7,static_cast<CoE::DataType>(7),"",0x0);
+            CoE::addEntry<uint32_t>(object, 0, 32, 0, 7, static_cast<CoE::DataType>(7), "", 0x0);
             dictionary.push_back(std::move(object));
         }
 
@@ -28,11 +28,11 @@ namespace kickcat::CoE
                 "Identity Object",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,7,static_cast<CoE::DataType>(5),"Subindex 000",0x4);
-            CoE::addEntry<uint32_t>(object,1,32,16,7,static_cast<CoE::DataType>(7),"Vendor ID",0x6a5);
-            CoE::addEntry<uint32_t>(object,2,32,48,7,static_cast<CoE::DataType>(7),"Product code",0xb0cad0);
-            CoE::addEntry<uint32_t>(object,3,32,80,7,static_cast<CoE::DataType>(7),"Revision number",0x0);
-            CoE::addEntry<uint32_t>(object,4,32,112,7,static_cast<CoE::DataType>(7),"Serial number",0xcafedeca);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, 7, static_cast<CoE::DataType>(5), "Subindex 000", 0x4);
+            CoE::addEntry<uint32_t>(object, 1, 32, 16, 7, static_cast<CoE::DataType>(7), "Vendor ID", 0x6a5);
+            CoE::addEntry<uint32_t>(object, 2, 32, 48, 7, static_cast<CoE::DataType>(7), "Product code", 0xb0cad0);
+            CoE::addEntry<uint32_t>(object, 3, 32, 80, 7, static_cast<CoE::DataType>(7), "Revision number", 0x0);
+            CoE::addEntry<uint32_t>(object, 4, 32, 112, 7, static_cast<CoE::DataType>(7), "Serial number", 0xcafedeca);
             dictionary.push_back(std::move(object));
         }
 
@@ -44,8 +44,8 @@ namespace kickcat::CoE
                 "RxPDO Map 1",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,7,static_cast<CoE::DataType>(5),"Subindex 000",0x1);
-            CoE::addEntry<uint32_t>(object,1,32,16,7,static_cast<CoE::DataType>(7),"RxPDO Map 1 Element 1",0x60000010);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, 7, static_cast<CoE::DataType>(5), "Subindex 000", 0x1);
+            CoE::addEntry<uint32_t>(object, 1, 32, 16, 7, static_cast<CoE::DataType>(7), "RxPDO Map 1 Element 1", 0x60000010);
             dictionary.push_back(std::move(object));
         }
 
@@ -57,21 +57,21 @@ namespace kickcat::CoE
                 "TxPDO Map 1",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,7,static_cast<CoE::DataType>(5),"Subindex 000",0xd);
-            CoE::addEntry<uint32_t>(object,1,32,16,7,static_cast<CoE::DataType>(7),"TxPDO Map 1 Element 1",0x60000010);
-            CoE::addEntry<uint32_t>(object,2,32,48,7,static_cast<CoE::DataType>(7),"TxPDO Map 1 Element 2",0x60010010);
-            CoE::addEntry<uint32_t>(object,3,32,80,7,static_cast<CoE::DataType>(7),"TxPDO Map 1 Element 3",0x60020010);
-            CoE::addEntry<uint32_t>(object,4,32,112,7,static_cast<CoE::DataType>(7),"TxPDO Map 1 Element 4",0x60030010);
-            CoE::addEntry<uint32_t>(object,5,32,144,7,static_cast<CoE::DataType>(7),"TxPDO Map 1 Element 5",0x60040010);
-            CoE::addEntry<uint32_t>(object,6,32,176,7,static_cast<CoE::DataType>(7),"TxPDO Map 1 Element 6",0x60050010);
-            CoE::addEntry<uint32_t>(object,7,32,208,7,static_cast<CoE::DataType>(7),"TxPDO Map 1 Element 7",0x60060010);
-            CoE::addEntry<uint32_t>(object,8,32,240,7,static_cast<CoE::DataType>(7),"TxPDO Map 1 Element 8",0x60070010);
-            CoE::addEntry<uint32_t>(object,9,32,272,7,static_cast<CoE::DataType>(7),"TxPDO Map 1 Element 9",0x60080010);
-            CoE::addEntry<uint32_t>(object,10,32,304,7,static_cast<CoE::DataType>(7),"TxPDO Map 1 Element 10",0x60090010);
-            CoE::addEntry<uint32_t>(object,11,32,336,7,static_cast<CoE::DataType>(7),"TxPDO Map 1 Element 11",0x600a0010);
-            CoE::addEntry<uint32_t>(object,12,32,368,7,static_cast<CoE::DataType>(7),"TxPDO Map 1 Element 12",0x600b0010);
-            CoE::addEntry<uint32_t>(object,13,32,400,7,static_cast<CoE::DataType>(7),"TxPDO Map 1 Element 13",0x600c0010);
-            CoE::addEntry<uint32_t>(object,14,32,432,7,static_cast<CoE::DataType>(7),"TxPDO Map 1 Element 14",0x600d0010);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, 7, static_cast<CoE::DataType>(5), "Subindex 000", 0xd);
+            CoE::addEntry<uint32_t>(object, 1, 32, 16, 7, static_cast<CoE::DataType>(7), "TxPDO Map 1 Element 1", 0x60000010);
+            CoE::addEntry<uint32_t>(object, 2, 32, 48, 7, static_cast<CoE::DataType>(7), "TxPDO Map 1 Element 2", 0x60010010);
+            CoE::addEntry<uint32_t>(object, 3, 32, 80, 7, static_cast<CoE::DataType>(7), "TxPDO Map 1 Element 3", 0x60020010);
+            CoE::addEntry<uint32_t>(object, 4, 32, 112, 7, static_cast<CoE::DataType>(7), "TxPDO Map 1 Element 4", 0x60030010);
+            CoE::addEntry<uint32_t>(object, 5, 32, 144, 7, static_cast<CoE::DataType>(7), "TxPDO Map 1 Element 5", 0x60040010);
+            CoE::addEntry<uint32_t>(object, 6, 32, 176, 7, static_cast<CoE::DataType>(7), "TxPDO Map 1 Element 6", 0x60050010);
+            CoE::addEntry<uint32_t>(object, 7, 32, 208, 7, static_cast<CoE::DataType>(7), "TxPDO Map 1 Element 7", 0x60060010);
+            CoE::addEntry<uint32_t>(object, 8, 32, 240, 7, static_cast<CoE::DataType>(7), "TxPDO Map 1 Element 8", 0x60070010);
+            CoE::addEntry<uint32_t>(object, 9, 32, 272, 7, static_cast<CoE::DataType>(7), "TxPDO Map 1 Element 9", 0x60080010);
+            CoE::addEntry<uint32_t>(object, 10, 32, 304, 7, static_cast<CoE::DataType>(7), "TxPDO Map 1 Element 10", 0x60090010);
+            CoE::addEntry<uint32_t>(object, 11, 32, 336, 7, static_cast<CoE::DataType>(7), "TxPDO Map 1 Element 11", 0x600a0010);
+            CoE::addEntry<uint32_t>(object, 12, 32, 368, 7, static_cast<CoE::DataType>(7), "TxPDO Map 1 Element 12", 0x600b0010);
+            CoE::addEntry<uint32_t>(object, 13, 32, 400, 7, static_cast<CoE::DataType>(7), "TxPDO Map 1 Element 13", 0x600c0010);
+            CoE::addEntry<uint32_t>(object, 14, 32, 432, 7, static_cast<CoE::DataType>(7), "TxPDO Map 1 Element 14", 0x600d0010);
             dictionary.push_back(std::move(object));
         }
 
@@ -83,11 +83,11 @@ namespace kickcat::CoE
                 "Sync manager type",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,7,static_cast<CoE::DataType>(5),"Subindex 0",0x4);
-            CoE::addEntry<uint8_t>(object,1,8,16,7,static_cast<CoE::DataType>(5),"Subindex 1",0x1);
-            CoE::addEntry<uint8_t>(object,2,8,24,7,static_cast<CoE::DataType>(5),"Subindex 2",0x2);
-            CoE::addEntry<uint8_t>(object,3,8,32,7,static_cast<CoE::DataType>(5),"Subindex 3",0x3);
-            CoE::addEntry<uint8_t>(object,4,8,40,7,static_cast<CoE::DataType>(5),"Subindex 4",0x4);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, 7, static_cast<CoE::DataType>(5), "Subindex 0", 0x4);
+            CoE::addEntry<uint8_t>(object, 1, 8, 16, 7, static_cast<CoE::DataType>(5), "Subindex 1", 0x1);
+            CoE::addEntry<uint8_t>(object, 2, 8, 24, 7, static_cast<CoE::DataType>(5), "Subindex 2", 0x2);
+            CoE::addEntry<uint8_t>(object, 3, 8, 32, 7, static_cast<CoE::DataType>(5), "Subindex 3", 0x3);
+            CoE::addEntry<uint8_t>(object, 4, 8, 40, 7, static_cast<CoE::DataType>(5), "Subindex 4", 0x4);
             dictionary.push_back(std::move(object));
         }
 
@@ -99,8 +99,8 @@ namespace kickcat::CoE
                 "RxPDO assign",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,15,static_cast<CoE::DataType>(5),"Subindex 000",0x1);
-            CoE::addEntry<uint16_t>(object,1,16,16,15,static_cast<CoE::DataType>(6),"RxPDO assign Element 1",0x1600);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, 15, static_cast<CoE::DataType>(5), "Subindex 000", 0x1);
+            CoE::addEntry<uint16_t>(object, 1, 16, 16, 15, static_cast<CoE::DataType>(6), "RxPDO assign Element 1", 0x1600);
             dictionary.push_back(std::move(object));
         }
 
@@ -112,8 +112,8 @@ namespace kickcat::CoE
                 "TxPDO assign",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,15,static_cast<CoE::DataType>(5),"Subindex 000",0x1);
-            CoE::addEntry<uint16_t>(object,1,16,16,15,static_cast<CoE::DataType>(6),"TxPDO assign Element 1",0x1a00);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, 15, static_cast<CoE::DataType>(5), "Subindex 000", 0x1);
+            CoE::addEntry<uint16_t>(object, 1, 16, 16, 15, static_cast<CoE::DataType>(6), "TxPDO assign Element 1", 0x1a00);
             dictionary.push_back(std::move(object));
         }
 
@@ -125,9 +125,9 @@ namespace kickcat::CoE
                 "FreezeValue",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,7,static_cast<CoE::DataType>(5),"Subindex 000",0x2);
-            CoE::addEntry<uint32_t>(object,1,32,16,63,static_cast<CoE::DataType>(7),"ForceSensor0",0x2);
-            CoE::addEntry<uint32_t>(object,2,32,48,63,static_cast<CoE::DataType>(7),"IMU",0x2);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, 7, static_cast<CoE::DataType>(5), "Subindex 000", 0x2);
+            CoE::addEntry<uint32_t>(object, 1, 32, 16, 63, static_cast<CoE::DataType>(7), "ForceSensor0", 0x2);
+            CoE::addEntry<uint32_t>(object, 2, 32, 48, 63, static_cast<CoE::DataType>(7), "IMU", 0x2);
             dictionary.push_back(std::move(object));
         }
 
@@ -139,7 +139,7 @@ namespace kickcat::CoE
                 "wdg_counter",
                 {}
             };
-            CoE::addEntry<uint16_t>(object,0,16,0,199,static_cast<CoE::DataType>(6),"",0x0);
+            CoE::addEntry<uint16_t>(object, 0, 16, 0, 199, static_cast<CoE::DataType>(6), "", 0x0);
             dictionary.push_back(std::move(object));
         }
 
@@ -151,7 +151,7 @@ namespace kickcat::CoE
                 "acc_x",
                 {}
             };
-            CoE::addEntry<uint16_t>(object,0,16,0,135,static_cast<CoE::DataType>(6),"",0x0);
+            CoE::addEntry<uint16_t>(object, 0, 16, 0, 135, static_cast<CoE::DataType>(6), "", 0x0);
             dictionary.push_back(std::move(object));
         }
 
@@ -163,7 +163,7 @@ namespace kickcat::CoE
                 "acc_y",
                 {}
             };
-            CoE::addEntry<uint16_t>(object,0,16,0,135,static_cast<CoE::DataType>(6),"",0x0);
+            CoE::addEntry<uint16_t>(object, 0, 16, 0, 135, static_cast<CoE::DataType>(6), "", 0x0);
             dictionary.push_back(std::move(object));
         }
 
@@ -175,7 +175,7 @@ namespace kickcat::CoE
                 "acc_z",
                 {}
             };
-            CoE::addEntry<uint16_t>(object,0,16,0,135,static_cast<CoE::DataType>(6),"",0x0);
+            CoE::addEntry<uint16_t>(object, 0, 16, 0, 135, static_cast<CoE::DataType>(6), "", 0x0);
             dictionary.push_back(std::move(object));
         }
 
@@ -187,7 +187,7 @@ namespace kickcat::CoE
                 "gyro_x",
                 {}
             };
-            CoE::addEntry<uint16_t>(object,0,16,0,135,static_cast<CoE::DataType>(6),"",0x0);
+            CoE::addEntry<uint16_t>(object, 0, 16, 0, 135, static_cast<CoE::DataType>(6), "", 0x0);
             dictionary.push_back(std::move(object));
         }
 
@@ -199,7 +199,7 @@ namespace kickcat::CoE
                 "gyro_y",
                 {}
             };
-            CoE::addEntry<uint16_t>(object,0,16,0,135,static_cast<CoE::DataType>(6),"",0x0);
+            CoE::addEntry<uint16_t>(object, 0, 16, 0, 135, static_cast<CoE::DataType>(6), "", 0x0);
             dictionary.push_back(std::move(object));
         }
 
@@ -211,7 +211,7 @@ namespace kickcat::CoE
                 "gyro_z",
                 {}
             };
-            CoE::addEntry<uint16_t>(object,0,16,0,135,static_cast<CoE::DataType>(6),"",0x0);
+            CoE::addEntry<uint16_t>(object, 0, 16, 0, 135, static_cast<CoE::DataType>(6), "", 0x0);
             dictionary.push_back(std::move(object));
         }
 
@@ -223,7 +223,7 @@ namespace kickcat::CoE
                 "imu_temperature",
                 {}
             };
-            CoE::addEntry<uint16_t>(object,0,16,0,135,static_cast<CoE::DataType>(6),"",0x0);
+            CoE::addEntry<uint16_t>(object, 0, 16, 0, 135, static_cast<CoE::DataType>(6), "", 0x0);
             dictionary.push_back(std::move(object));
         }
 
@@ -235,7 +235,7 @@ namespace kickcat::CoE
                 "force_sensor_0",
                 {}
             };
-            CoE::addEntry<uint16_t>(object,0,16,0,135,static_cast<CoE::DataType>(6),"",0x0);
+            CoE::addEntry<uint16_t>(object, 0, 16, 0, 135, static_cast<CoE::DataType>(6), "", 0x0);
             dictionary.push_back(std::move(object));
         }
 
@@ -247,7 +247,7 @@ namespace kickcat::CoE
                 "force_sensor_1",
                 {}
             };
-            CoE::addEntry<uint16_t>(object,0,16,0,135,static_cast<CoE::DataType>(6),"",0x0);
+            CoE::addEntry<uint16_t>(object, 0, 16, 0, 135, static_cast<CoE::DataType>(6), "", 0x0);
             dictionary.push_back(std::move(object));
         }
 
@@ -259,7 +259,7 @@ namespace kickcat::CoE
                 "force_sensor_2",
                 {}
             };
-            CoE::addEntry<uint16_t>(object,0,16,0,135,static_cast<CoE::DataType>(6),"",0x0);
+            CoE::addEntry<uint16_t>(object, 0, 16, 0, 135, static_cast<CoE::DataType>(6), "", 0x0);
             dictionary.push_back(std::move(object));
         }
 
@@ -271,7 +271,7 @@ namespace kickcat::CoE
                 "force_sensor_3",
                 {}
             };
-            CoE::addEntry<uint16_t>(object,0,16,0,135,static_cast<CoE::DataType>(6),"",0x0);
+            CoE::addEntry<uint16_t>(object, 0, 16, 0, 135, static_cast<CoE::DataType>(6), "", 0x0);
             dictionary.push_back(std::move(object));
         }
 
@@ -283,7 +283,7 @@ namespace kickcat::CoE
                 "adc_vref",
                 {}
             };
-            CoE::addEntry<uint16_t>(object,0,16,0,135,static_cast<CoE::DataType>(6),"",0x0);
+            CoE::addEntry<uint16_t>(object, 0, 16, 0, 135, static_cast<CoE::DataType>(6), "", 0x0);
             dictionary.push_back(std::move(object));
         }
 
@@ -295,10 +295,10 @@ namespace kickcat::CoE
                 "board_status",
                 {}
             };
-            CoE::addEntry<uint16_t>(object,0,16,0,135,static_cast<CoE::DataType>(6),"",0x0);
+            CoE::addEntry<uint16_t>(object, 0, 16, 0, 135, static_cast<CoE::DataType>(6), "", 0x0);
             dictionary.push_back(std::move(object));
         }
 
-         return dictionary;
+        return dictionary;
     }
 }
diff --git a/examples/slave/rpi/lan9252/main.cc b/examples/slave/rpi/lan9252/main.cc
index c62740fe..a5f47304 100644
--- a/examples/slave/rpi/lan9252/main.cc
+++ b/examples/slave/rpi/lan9252/main.cc
@@ -12,7 +12,7 @@
 
 using namespace kickcat;
 
-int main(int argc, char *argv[])
+int main(int argc, char* argv[])
 {
     (void)argc;
     (void)argv;
diff --git a/examples/slave/rpi/lan9252/od_populator.cc b/examples/slave/rpi/lan9252/od_populator.cc
index c1180ebc..14fe5799 100644
--- a/examples/slave/rpi/lan9252/od_populator.cc
+++ b/examples/slave/rpi/lan9252/od_populator.cc
@@ -16,7 +16,7 @@ namespace kickcat::CoE
                 "Device Type",
                 {}
             };
-            CoE::addEntry<uint32_t>(object,0,32,0,CoE::Access::READ,CoE::DataType::UNSIGNED32,"",0x0);
+            CoE::addEntry<uint32_t>(object, 0, 32, 0, CoE::Access::READ, CoE::DataType::UNSIGNED32, "", 0x0);
             dictionary.push_back(std::move(object));
         }
 
@@ -28,11 +28,11 @@ namespace kickcat::CoE
                 "Identity Object",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,CoE::Access::READ,CoE::DataType::UNSIGNED8,"Subindex 000",0x4);
-            CoE::addEntry<uint32_t>(object,1,32,8,CoE::Access::READ,CoE::DataType::UNSIGNED32,"Vendor ID",0x6a5);
-            CoE::addEntry<uint32_t>(object,2,32,40,CoE::Access::READ,CoE::DataType::UNSIGNED32,"Product code",0xb0cad0);
-            CoE::addEntry<uint32_t>(object,3,32,72,CoE::Access::READ,CoE::DataType::UNSIGNED32,"Revision number",0x0);
-            CoE::addEntry<uint32_t>(object,4,32,104,CoE::Access::READ,CoE::DataType::UNSIGNED32,"Serial number",0xcafedeca);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, CoE::Access::READ, CoE::DataType::UNSIGNED8, "Subindex 000", 0x4);
+            CoE::addEntry<uint32_t>(object, 1, 32, 8, CoE::Access::READ, CoE::DataType::UNSIGNED32, "Vendor ID", 0x6a5);
+            CoE::addEntry<uint32_t>(object, 2, 32, 40, CoE::Access::READ, CoE::DataType::UNSIGNED32, "Product code", 0xb0cad0);
+            CoE::addEntry<uint32_t>(object, 3, 32, 72, CoE::Access::READ, CoE::DataType::UNSIGNED32, "Revision number", 0x0);
+            CoE::addEntry<uint32_t>(object, 4, 32, 104, CoE::Access::READ, CoE::DataType::UNSIGNED32, "Serial number", 0xcafedeca);
             dictionary.push_back(std::move(object));
         }
 
@@ -44,8 +44,8 @@ namespace kickcat::CoE
                 "RxPDO Map 1",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,CoE::Access::READ | CoE::Access::WRITE,CoE::DataType::UNSIGNED8,"Subindex 000",0x1);
-            CoE::addEntry<uint32_t>(object,1,32,8,CoE::Access::READ | CoE::Access::WRITE,CoE::DataType::UNSIGNED32,"RxPDO Map 1 Element 1",0x70000008);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, CoE::Access::READ | CoE::Access::WRITE, CoE::DataType::UNSIGNED8, "Subindex 000", 0x1);
+            CoE::addEntry<uint32_t>(object, 1, 32, 8, CoE::Access::READ | CoE::Access::WRITE, CoE::DataType::UNSIGNED32, "RxPDO Map 1 Element 1", 0x70000008);
             dictionary.push_back(std::move(object));
         }
 
@@ -57,8 +57,8 @@ namespace kickcat::CoE
                 "TxPDO Map 1",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,CoE::Access::READ | CoE::Access::WRITE,CoE::DataType::UNSIGNED8,"Subindex 000",0x1);
-            CoE::addEntry<uint32_t>(object,1,32,8,CoE::Access::READ | CoE::Access::WRITE,CoE::DataType::UNSIGNED32,"TxPDO Map 1 Element 1",0x60000010);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, CoE::Access::READ | CoE::Access::WRITE, CoE::DataType::UNSIGNED8, "Subindex 000", 0x1);
+            CoE::addEntry<uint32_t>(object, 1, 32, 8, CoE::Access::READ | CoE::Access::WRITE, CoE::DataType::UNSIGNED32, "TxPDO Map 1 Element 1", 0x60000010);
             dictionary.push_back(std::move(object));
         }
 
@@ -70,11 +70,11 @@ namespace kickcat::CoE
                 "Sync manager type",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,CoE::Access::READ,CoE::DataType::UNSIGNED8,"Subindex 0",0x4);
-            CoE::addEntry<uint8_t>(object,1,8,8,CoE::Access::READ,CoE::DataType::UNSIGNED8,"Subindex 1",0x1);
-            CoE::addEntry<uint8_t>(object,2,8,16,CoE::Access::READ,CoE::DataType::UNSIGNED8,"Subindex 2",0x2);
-            CoE::addEntry<uint8_t>(object,3,8,24,CoE::Access::READ,CoE::DataType::UNSIGNED8,"Subindex 3",0x3);
-            CoE::addEntry<uint8_t>(object,4,8,32,CoE::Access::READ,CoE::DataType::UNSIGNED8,"Subindex 4",0x4);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, CoE::Access::READ, CoE::DataType::UNSIGNED8, "Subindex 0", 0x4);
+            CoE::addEntry<uint8_t>(object, 1, 8, 8, CoE::Access::READ, CoE::DataType::UNSIGNED8, "Subindex 1", 0x1);
+            CoE::addEntry<uint8_t>(object, 2, 8, 16, CoE::Access::READ, CoE::DataType::UNSIGNED8, "Subindex 2", 0x2);
+            CoE::addEntry<uint8_t>(object, 3, 8, 24, CoE::Access::READ, CoE::DataType::UNSIGNED8, "Subindex 3", 0x3);
+            CoE::addEntry<uint8_t>(object, 4, 8, 32, CoE::Access::READ, CoE::DataType::UNSIGNED8, "Subindex 4", 0x4);
             dictionary.push_back(std::move(object));
         }
 
@@ -86,8 +86,8 @@ namespace kickcat::CoE
                 "RxPDO assign",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,CoE::Access::READ | CoE::Access::WRITE_PREOP,CoE::DataType::UNSIGNED8,"Subindex 000",0x1);
-            CoE::addEntry<uint16_t>(object,1,16,8,CoE::Access::READ | CoE::Access::WRITE_PREOP,CoE::DataType::UNSIGNED16,"RxPDO assign Element 1",0x1600);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, CoE::Access::READ | CoE::Access::WRITE_PREOP, CoE::DataType::UNSIGNED8, "Subindex 000", 0x1);
+            CoE::addEntry<uint16_t>(object, 1, 16, 8, CoE::Access::READ | CoE::Access::WRITE_PREOP, CoE::DataType::UNSIGNED16, "RxPDO assign Element 1", 0x1600);
             dictionary.push_back(std::move(object));
         }
 
@@ -99,8 +99,8 @@ namespace kickcat::CoE
                 "TxPDO assign",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,CoE::Access::READ | CoE::Access::WRITE_PREOP,CoE::DataType::UNSIGNED8,"Subindex 000",0x1);
-            CoE::addEntry<uint16_t>(object,1,16,8,CoE::Access::READ | CoE::Access::WRITE_PREOP,CoE::DataType::UNSIGNED16,"TxPDO assign Element 1",0x1a00);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, CoE::Access::READ | CoE::Access::WRITE_PREOP, CoE::DataType::UNSIGNED8, "Subindex 000", 0x1);
+            CoE::addEntry<uint16_t>(object, 1, 16, 8, CoE::Access::READ | CoE::Access::WRITE_PREOP, CoE::DataType::UNSIGNED16, "TxPDO assign Element 1", 0x1a00);
             dictionary.push_back(std::move(object));
         }
 
@@ -112,7 +112,7 @@ namespace kickcat::CoE
                 "input",
                 {}
             };
-            CoE::addEntry<int16_t>(object,0,16,0,CoE::Access::READ | CoE::Access::TxPDO,CoE::DataType::INTEGER16,"input",0);
+            CoE::addEntry<int16_t>(object, 0, 16, 0, CoE::Access::READ | CoE::Access::TxPDO, CoE::DataType::INTEGER16, "input", 0);
             dictionary.push_back(std::move(object));
         }
 
@@ -124,10 +124,10 @@ namespace kickcat::CoE
                 "output",
                 {}
             };
-            CoE::addEntry<uint8_t>(object,0,8,0,CoE::Access::WRITE | CoE::Access::RxPDO,CoE::DataType::UNSIGNED8,"output",0);
+            CoE::addEntry<uint8_t>(object, 0, 8, 0, CoE::Access::WRITE | CoE::Access::RxPDO, CoE::DataType::UNSIGNED8, "output", 0);
             dictionary.push_back(std::move(object));
         }
 
-         return dictionary;
+        return dictionary;
     }
 }
diff --git a/scripts/format_cpp.sh b/scripts/format_cpp.sh
new file mode 100755
index 00000000..10d4dec1
--- /dev/null
+++ b/scripts/format_cpp.sh
@@ -0,0 +1,105 @@
+#!/bin/bash
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
+
+source "$SCRIPT_DIR/lib/log.sh"
+
+DEFAULT_DIRS=("lib" "examples")
+
+if ! command -v uncrustify &> /dev/null; then
+    error "uncrustify is not installed or not in PATH."
+    exit 1
+fi
+
+print_usage() {
+    echo "Usage: $0 [check|apply] [paths...]"
+    echo ""
+    echo "Commands:"
+    echo "  check   Verify that files are correctly formatted (used in CI)."
+    echo "  apply   Apply formatting to files in place."
+    echo ""
+    echo "If no paths are provided, it defaults to: ${DEFAULT_DIRS[*]}"
+}
+
+get_filenames() {
+    local search_paths=("$@")
+    if [ ${#search_paths[@]} -eq 0 ]; then
+        search_paths=("${DEFAULT_DIRS[@]}")
+    fi
+
+    local final_paths=()
+    for path in "${search_paths[@]}"; do
+        if [[ ! -e "$path" && -e "$PROJECT_ROOT/$path" ]]; then
+            final_paths+=("$PROJECT_ROOT/$path")
+        elif [[ -e "$path" ]]; then
+            final_paths+=("$path")
+        else
+            warn "Skipping non-existing path $path"
+        fi
+    done
+
+    local filenames=()
+    for path in "${final_paths[@]}"; do
+        while IFS= read -r -d '' filename; do
+            filenames+=("$filename")
+        done < <(find "$path" -name '*.cc' -print0)
+    done
+    echo "${filenames[@]}"
+}
+
+check_format() {
+    local filenames
+    filenames=$(get_filenames "$@")
+
+    step "Checking C++ formatting"
+    local total_files=0
+    local bad_files=0
+    for filename in $filenames; do
+        info "Checking $filename ..."
+        total_files=$((total_files + 1))
+        if uncrustify -c "$PROJECT_ROOT/uncrustify.cfg" --check "$filename"; then
+            info "OK"
+        else
+            bad_files=$((bad_files + 1))
+            warn "format not ok"
+            diff -u "$filename" <(uncrustify -c "$PROJECT_ROOT/uncrustify.cfg" -f "$filename")
+        fi
+    done
+
+    if [ $bad_files -gt 0 ]; then
+        error "${bad_files} out of ${total_files} C++ files are not correctly formatted. Run '$0 apply' to fix."
+        return 1
+    else
+        success "All ${total_files} C++ files are correctly formatted."
+        return 0
+    fi
+}
+
+apply_format() {
+    local filenames
+    filenames=$(get_filenames "$@")
+
+    step "Applying C++ formatting"
+    for filename in $filenames; do
+        info "Formatting $filename"
+        uncrustify -c "$PROJECT_ROOT/uncrustify.cfg" --replace --no-backup "$filename"
+    done
+    success "Formatting applied."
+}
+
+# Main execution logic
+case "$1" in
+    check)
+        shift
+        check_format "$@"
+        ;;
+    apply)
+        shift
+        apply_format "$@"
+        ;;
+    *)
+        print_usage
+        exit 1
+        ;;
+esac