>The Power of 10 Rules were created in 2006 by Gerard J. Holzmann of the NASA/JPL Laboratory for Reliable Software.[1] The rules are intended to eliminate certain C coding practices which make code difficult to review or statically analyze

The ten rules are:[1]

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.

https://en.wikipedia.org/wiki/The_Power_of_10:_Rules_for_Developing_Safety-Critical_Code