When I was writing safety-critical embedded programs for medical equipment and an air traffic control system, I found MISRA (https://en.wikipedia.org/wiki/MISRA

When I was writing safety-critical embedded programs for medical equipment and an air traffic control system, I found MISRA (https://en.wikipedia.org/wiki/MISRA_C https://en.wikipedia.org/wiki/MISRA_C) and Lutz's "Targeting Safety-Related Errors During Software Requirements Analysis" (http://trs-new.jpl.nasa.gov/dspace/bitstream/2014/35179/1/93-0749.pdf http://trs-new.jpl.nasa.gov/dspace/bitstream/2014/35179/1/93...) useful.