Michael Barr and Philip Koopman who have done a tremendous amount of work and checked the whole Toyota code manually. The engineers have found 81,514 errors: cyclomatic complexity of a program was more than 50, recursion was used in the Toyota code and every issue caused by it led to processor reset. To minimize the risk of having a bug it?s important to use MISRA along with other methods of software analysis and checking, including static code analysis.