You might want to take a look at Real-time C++: Efficient Object-oriented and Template Microcontroller Programming by Christopher Kormanyos for some ideas.

Also take a look at David Crocker's Escher Technologies "Escher C Verifier and Escher C++ Verifier" (https://www.eschertech.com/products/ecv.php) and articles on "Verified Design-By-Contract" etc. linked to in my comment chain here - https://news.ycombinator.com/item?id=48544022