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Here is a link to a number of suggestions I have compiled for hardening of firmware.
I'm pretty sure that a lot can be said about the list, so please post coding tips or links to pages with good information of software hardening.
iapetus.neab.net/.../hardening.html
Cpt. Vince said it just a few days ago:
"And of course I think of you: I'm sure we all do."