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    Wikipedia has a succinct version of it:

    1. Avoid complex flow constructs, such as goto and recursion.
    2. All loops must have fixed bounds. This prevents runaway code.
    3. Avoid heap memory allocation.
    4. Restrict functions to a single printed page.
    5. Use a minimum of two runtime assertions per function.
    6. Restrict the scope of data to the smallest possible.
    7. Check the return value of all non-void functions, or cast to void to indicate the return value is useless.
    8. Use the preprocessor sparingly.
    9. Limit pointer use to a single dereference, and do not use function pointers.
    10. Compile with all possible warnings active; all warnings should then be addressed before release of the software.

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