The original MISRA principles were created to be applied as code was being developed. Even the document itself has a warning:
“...a project that checks for MISRA C compliance late in its cycle is likely to spend a considerable amount of time re-coding, re-reviewing and re-testing. It’s therefore expected that the software development process will require the early application of MISRA C principles.”
Because many organizations need to reuse legacy codebases, the MISRA Compliance: 2016 guidance document was created in response. There’s clear distinction between the new, native code developed in the scope of a current project and the “adopted” code developed outside of the scope of the project.
Software development teams need a practical approach to dealing with legacy code and MISRA C compliance.