C++ is a better C, if you want your (embedded) programs to be of high quality you use C++ style.
I'm not expert on the subject but here are some hints:
use structures heavily, use c++ comments and use modular programming.
use multi file project with each module in a seperate file. Make internal and external h files for each module, the internal h file contains prototypes and defines used for the same module, while external h file contains defines and prototypes of functions called by other modules.
If a module uses a function in another module you include that modules external h file.
Regards
Mahmood