Can I find a analysis tool for embedded C code?

You wont find a good and free code analysis tool. Normally code analysis is included in the IDE in which you are programming.

The best way of avoiding bugs is to have some clear, simple and plain program flow. The parameter should be checked at input in your code (like when data is read from memory).

A very helpful step is always some peer review. When your peer understands your code than the controller may also be fine with it.

No code analysis will eliminate the bugs your program - for that you need to write some test functions with (known) edge cases like (-1, 0, "") or other random input. Fuzzing is also an option but it is a profi tool which need a lot of preparement.