diff --git a/ci/kuiper/cmake_toolchain.cmake b/ci/kuiper/cmake_toolchain.cmake
index 2f53210307..43175fc6f2 100644
--- a/ci/kuiper/cmake_toolchain.cmake
+++ b/ci/kuiper/cmake_toolchain.cmake
@@ -1,66 +1,79 @@
 cmake_minimum_required(VERSION 3.18)
 
-set(CMAKE_SYSTEM_NAME           	Linux)
-set(CMAKE_SYSTEM_PROCESSOR      	arm)
-set(CMAKE_LIBRARY_ARCHITECTURE 	arm-linux-gnueabihf)
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR arm)
+set(CMAKE_LIBRARY_ARCHITECTURE arm-linux-gnueabihf)
 
-# In this case the variables CMAKE_SYSROOT and STAGING_AREA are defined as parameters to the cmake command 
-set(TOOLCHAIN_FILE                 	${STAGING_AREA}/cross-pi-gcc)
-set(TOOLCHAIN_BIN                  	${TOOLCHAIN_FILE}/bin)
-set(CMAKE_PREFIX_PATH			${QT_LOCATION})
-list(APPEND CMAKE_PREFIX_PATH		"${CMAKE_SYSROOT}/usr/lib/arm-linux-gnueabihf")
-list(APPEND CMAKE_PREFIX_PATH		"${CMAKE_SYSROOT}/lib")
+# In this case the variables CMAKE_SYSROOT and STAGING_AREA are defined as parameters to the cmake command
+set(TOOLCHAIN_FILE ${STAGING_AREA}/cross-pi-gcc)
+set(TOOLCHAIN_BIN ${TOOLCHAIN_FILE}/bin)
+set(CMAKE_PREFIX_PATH ${QT_LOCATION})
+list(APPEND CMAKE_PREFIX_PATH "${CMAKE_SYSROOT}/usr/lib/arm-linux-gnueabihf")
+list(APPEND CMAKE_PREFIX_PATH "${CMAKE_SYSROOT}/lib")
 set(CMAKE_VERBOSE ON)
 
-set(PKG_CONFIG_EXECUTABLE          	"${CMAKE_SYSROOT}/usr/bin/arm-linux-gnueabihf-pkg-config" CACHE PATH "PKG_CONFIG_EXECUTABLE" FORCE)
-set(ENV{PKG_CONFIG_ALLOW_CROSS}    	1)
-set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH 	ON)
-set(RPI_PKG_CONFIG_LIBDIR          	"${CMAKE_SYSROOT}/usr/lib/arm-linux-gnueabihf/pkgconfig:${RPI_PKG_CONFIG_LIBDIR}")
-set(RPI_PKG_CONFIG_LIBDIR          	"${CMAKE_SYSROOT}/usr/share/pkgconfig:${RPI_PKG_CONFIG_LIBDIR}")
-set(RPI_PKG_CONFIG_LIBDIR          	"${CMAKE_SYSROOT}/usr/lib/pkgconfig:${RPI_PKG_CONFIG_LIBDIR}")
-set(RPI_PKG_CONFIG_LIBDIR          	"${CMAKE_SYSROOT}/usr/local/lib/pkgconfig:${RPI_PKG_CONFIG_LIBDIR}")
-set(ENV{PKG_CONFIG_LIBDIR}         	"${RPI_PKG_CONFIG_LIBDIR}")
-set(ENV{PKG_CONFIG}                 	"${CMAKE_SYSROOT}/usr/bin/arm-linux-gnueabihf-pkg-config" )
-set(ENV{PKG_CONFIG_PATH}           	"$ENV{PKG_CONFIG_PATH}:${CMAKE_SYSROOT}/include:${CMAKE_SYSROOT}/usr/include:${CMAKE_SYSROOT}/usr/include/arm-linux-gnueabihf:${CMAKE_SYSROOT}/usr/share/include")
-set(ENV{PKG_CONFIG_SYSROOT_DIR}    	"${CMAKE_SYSROOT}")
+set(PKG_CONFIG_EXECUTABLE "${CMAKE_SYSROOT}/usr/bin/arm-linux-gnueabihf-pkg-config" CACHE PATH "PKG_CONFIG_EXECUTABLE"
+											  FORCE
+)
+set(ENV{PKG_CONFIG_ALLOW_CROSS} 1)
+set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH ON)
+set(RPI_PKG_CONFIG_LIBDIR "${CMAKE_SYSROOT}/usr/lib/arm-linux-gnueabihf/pkgconfig:${RPI_PKG_CONFIG_LIBDIR}")
+set(RPI_PKG_CONFIG_LIBDIR "${CMAKE_SYSROOT}/usr/share/pkgconfig:${RPI_PKG_CONFIG_LIBDIR}")
+set(RPI_PKG_CONFIG_LIBDIR "${CMAKE_SYSROOT}/usr/lib/pkgconfig:${RPI_PKG_CONFIG_LIBDIR}")
+set(RPI_PKG_CONFIG_LIBDIR "${CMAKE_SYSROOT}/usr/local/lib/pkgconfig:${RPI_PKG_CONFIG_LIBDIR}")
+set(ENV{PKG_CONFIG_LIBDIR} "${RPI_PKG_CONFIG_LIBDIR}")
+set(ENV{PKG_CONFIG} "${CMAKE_SYSROOT}/usr/bin/arm-linux-gnueabihf-pkg-config")
+set(ENV{PKG_CONFIG_PATH}
+    "$ENV{PKG_CONFIG_PATH}:${CMAKE_SYSROOT}/include:${CMAKE_SYSROOT}/usr/include:${CMAKE_SYSROOT}/usr/include/arm-linux-gnueabihf:${CMAKE_SYSROOT}/usr/share/include"
+)
+set(ENV{PKG_CONFIG_SYSROOT_DIR} "${CMAKE_SYSROOT}")
 
-set(ENV{LD_LIBRARY_PATH}           	"${CMAKE_SYSROOT}/usr/lib/arm-linux-gnueabihf:$ENV{LD_LIBRARY_PATH}")
-set(CMAKE_LIBRARY_PATH             	"${CMAKE_SYSROOT}/usr/lib" "${CMAKE_SYSROOT}/usr/lib/arm-linux-gnueabihf" "${CMAKE_SYSROOT}/usr/local/lib" "${CMAKE_SYSROOT}/usr/local/lib/arm-linux-gnueabihf")
+set(ENV{LD_LIBRARY_PATH} "${CMAKE_SYSROOT}/usr/lib/arm-linux-gnueabihf:$ENV{LD_LIBRARY_PATH}")
+set(CMAKE_LIBRARY_PATH "${CMAKE_SYSROOT}/usr/lib" "${CMAKE_SYSROOT}/usr/lib/arm-linux-gnueabihf"
+		       "${CMAKE_SYSROOT}/usr/local/lib" "${CMAKE_SYSROOT}/usr/local/lib/arm-linux-gnueabihf"
+)
 
-set(CMAKE_AR                       	${TOOLCHAIN_BIN}/arm-linux-gnueabihf-ar)
-set(CMAKE_ASM_COMPILER             	${TOOLCHAIN_BIN}/arm-linux-gnueabihf-gcc)
-set(CMAKE_C_COMPILER               	${TOOLCHAIN_BIN}/arm-linux-gnueabihf-gcc)
-set(CMAKE_CXX_COMPILER             	${TOOLCHAIN_BIN}/arm-linux-gnueabihf-g++)
-set(CMAKE_LINKER                   	${TOOLCHAIN_BIN}/arm-linux-gnueabihf-ld )
-set(CMAKE_OBJCOPY                  	${TOOLCHAIN_BIN}/arm-linux-gnueabihf-objcopy)
-set(CMAKE_RANLIB                   	${TOOLCHAIN_BIN}/arm-linux-gnueabihf-ranlib)
-set(CMAKE_SIZE                     	${TOOLCHAIN_BIN}/arm-linux-gnueabihf-size)
-set(CMAKE_STRIP                    	${TOOLCHAIN_BIN}/arm-linux-gnueabihf-strip)
+set(CMAKE_AR ${TOOLCHAIN_BIN}/arm-linux-gnueabihf-ar)
+set(CMAKE_ASM_COMPILER ${TOOLCHAIN_BIN}/arm-linux-gnueabihf-gcc)
+set(CMAKE_C_COMPILER ${TOOLCHAIN_BIN}/arm-linux-gnueabihf-gcc)
+set(CMAKE_CXX_COMPILER ${TOOLCHAIN_BIN}/arm-linux-gnueabihf-g++)
+set(CMAKE_LINKER ${TOOLCHAIN_BIN}/arm-linux-gnueabihf-ld)
+set(CMAKE_OBJCOPY ${TOOLCHAIN_BIN}/arm-linux-gnueabihf-objcopy)
+set(CMAKE_RANLIB ${TOOLCHAIN_BIN}/arm-linux-gnueabihf-ranlib)
+set(CMAKE_SIZE ${TOOLCHAIN_BIN}/arm-linux-gnueabihf-size)
+set(CMAKE_STRIP ${TOOLCHAIN_BIN}/arm-linux-gnueabihf-strip)
 
-set(CMAKE_C_FLAGS 			"-march=armv7-a -mfloat-abi=hard -mfpu=vfp" )
-set(CMAKE_C_FLAGS                  	"${CMAKE_C_FLAGS} -I${CMAKE_SYSROOT}/include -I${CMAKE_SYSROOT}/usr/include -I${CMAKE_SYSROOT}/usr/include/arm-linux-gnueabihf -I${CMAKE_SYSROOT}/usr/share/include -fPIC")
-set(CMAKE_CXX_FLAGS                	"-fexceptions -frtti ${CMAKE_C_FLAGS}")
-set(CMAKE_CXX_FLAGS_DEBUG          	"-Os -g" )
-set(CMAKE_CXX_FLAGS_RELEASE        	"-Os -DNDEBUG" )
-set(CMAKE_EXE_LINKER_FLAGS         	"-Wl,--as-needed -Wl,-O1 -Wl,--hash-style=gnu -mthumb -lpthread -pthread")
-set(CMAKE_EXE_LINKER_FLAGS         	"${CMAKE_EXE_LINKER_FLAGS} -L${CMAKE_SYSROOT}/usr/lib/arm-linux-gnueabihf")
-set(CMAKE_EXE_LINKER_FLAGS         	"${CMAKE_EXE_LINKER_FLAGS} -L${CMAKE_SYSROOT}/usr/lib")
-set(CMAKE_EXE_LINKER_FLAGS         	"${CMAKE_EXE_LINKER_FLAGS} -L${CMAKE_SYSROOT}/usr/local/lib")
-set(CMAKE_EXE_LINKER_FLAGS         	"${CMAKE_EXE_LINKER_FLAGS} -L${QT_LOCATION}/lib")
-set(CMAKE_EXE_LINKER_FLAGS         	"${CMAKE_EXE_LINKER_FLAGS} -L${TOOLCHAIN_FILE}/arm-linux-gnueabihf/lib")
-set(CMAKE_EXE_LINKER_FLAGS         	"${CMAKE_EXE_LINKER_FLAGS} -L${TOOLCHAIN_FILE}/arm-linux-gnueabihf/libc/lib")
-set(CMAKE_SHARED_LINKER_FLAGS 		${CMAKE_EXE_LINKER_FLAGS})
+set(CMAKE_C_FLAGS "-march=armv7-a -mfloat-abi=hard -mfpu=vfp")
+set(CMAKE_C_FLAGS
+    "${CMAKE_C_FLAGS} -I${CMAKE_SYSROOT}/include -I${CMAKE_SYSROOT}/usr/include -I${CMAKE_SYSROOT}/usr/include/arm-linux-gnueabihf -I${CMAKE_SYSROOT}/usr/share/include -fPIC"
+)
+set(CMAKE_CXX_FLAGS "-fexceptions -frtti ${CMAKE_C_FLAGS}")
+set(CMAKE_CXX_FLAGS_DEBUG "-Os -g")
+set(CMAKE_CXX_FLAGS_RELEASE "-Os -DNDEBUG")
+set(CMAKE_EXE_LINKER_FLAGS "-Wl,--as-needed -Wl,-O1 -Wl,--hash-style=gnu -mthumb -lpthread -pthread")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -L${CMAKE_SYSROOT}/usr/lib/arm-linux-gnueabihf")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -L${CMAKE_SYSROOT}/usr/lib")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -L${CMAKE_SYSROOT}/usr/local/lib")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -L${QT_LOCATION}/lib")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -L${TOOLCHAIN_FILE}/arm-linux-gnueabihf/lib")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -L${TOOLCHAIN_FILE}/arm-linux-gnueabihf/libc/lib")
+set(CMAKE_SHARED_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS})
 
-# Debug Mode
-#set(PKG_CONFIG_ARGN "--debug")
-#set(CMAKE_EXE_LINKER_FLAGS        	"${CMAKE_EXE_LINKER_FLAGS} -Wl,--verbose ")
+# Debug Mode set(PKG_CONFIG_ARGN "--debug") set(CMAKE_EXE_LINKER_FLAGS              "${CMAKE_EXE_LINKER_FLAGS}
+# -Wl,--verbose ")
 
 set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY) # Perform compiler test with static library
-set(CMAKE_BUILD_WITH_INSTALL_RPATH 	TRUE)
-set(CMAKE_INSTALL_RPATH_USE_LINK_PATH 	TRUE)
-set(CMAKE_INSTALL_RPATH            	"$ORIGIN" "$ORIGIN/../lib" "/lib/arm-linux-gnueabihf" "/lib" "/usr/local/qt5.15/lib")
-set(CMAKE_FIND_ROOT_PATH           	${CMAKE_SYSROOT})
-set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM 	NEVER)
-set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY 	ONLY)
-set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE 	ONLY)
-set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE 	ONLY)
+set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+set(CMAKE_INSTALL_RPATH
+    "$ORIGIN"
+    "$ORIGIN/../lib"
+    "/lib/arm-linux-gnueabihf"
+    "/lib"
+    "/usr/local/qt5.15/lib"
+)
+set(CMAKE_FIND_ROOT_PATH ${CMAKE_SYSROOT})
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)