Avoid complex flow constructs, such as goto and recursion. All loops must have fixed bounds. This prevents runaway code. Avoid heap memory allocation. Restrict functions to a single printed page. Use a minimum of two runtime assertions per function. Restrict the scope of data to the smallest possible. Check the return value of all non-void functions, or cast to void to indicate the return value is useless. Use the preprocessor sparingly. Limit pointer use to a single dereference, and do not use function pointers. Compile with all possible warnings active; all warnings should then be addressed before release of the software.
>The NASA study of the Toyota electronic throttle control firmware found at least 243 violations of these rules. Proprietary cars yes.