diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index d1545fc1..de3b7330 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -181,8 +181,8 @@ bool Encoder::run_direction_find() {
 // and the encoder state 0.
 // TODO: Do the scan with current, not voltage!
 bool Encoder::run_offset_calibration() {
-    static const float start_lock_duration = 1.0f;
-    static const int num_steps = (int)(config_.calib_scan_distance / config_.calib_scan_omega * (float)current_meas_hz);
+    const float start_lock_duration = 1.0f;
+    const int num_steps = (int)(config_.calib_scan_distance / config_.calib_scan_omega * (float)current_meas_hz);
 
     // Require index found if enabled
     if (config_.use_index && !index_found_) {
diff --git a/Firmware/MotorControl/low_level.cpp b/Firmware/MotorControl/low_level.cpp
index 0dcc8754..2949ac64 100644
--- a/Firmware/MotorControl/low_level.cpp
+++ b/Firmware/MotorControl/low_level.cpp
@@ -28,8 +28,8 @@
 /* Private macros ------------------------------------------------------------*/
 /* Private typedef -----------------------------------------------------------*/
 /* Global constant data ------------------------------------------------------*/
-const float adc_full_scale = (float)(1 << 12);
-const float adc_ref_voltage = 3.3f;
+constexpr float adc_full_scale = static_cast<float>(1UL << 12UL);
+constexpr float adc_ref_voltage = 3.3f;
 /* Global variables ----------------------------------------------------------*/
 
 // This value is updated by the DC-bus reading ADC.
@@ -439,7 +439,7 @@ float get_adc_voltage(GPIO_TypeDef* GPIO_port, uint16_t GPIO_pin) {
 //--------------------------------
 
 void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
-    static const float voltage_scale = adc_ref_voltage * VBUS_S_DIVIDER_RATIO / adc_full_scale;
+    constexpr float voltage_scale = adc_ref_voltage * VBUS_S_DIVIDER_RATIO / adc_full_scale;
     // Only one conversion in sequence, so only rank1
     uint32_t ADCValue = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
     vbus_voltage = ADCValue * voltage_scale;
@@ -478,7 +478,7 @@ static void decode_hall_samples(Encoder& enc, uint16_t GPIO_samples[num_GPIO]) {
 // TODO: Document how the phasing is done, link to timing diagram
 void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
 #define calib_tau 0.2f  //@TOTO make more easily configurable
-    static const float calib_filter_k = CURRENT_MEAS_PERIOD / calib_tau;
+    constexpr float calib_filter_k = CURRENT_MEAS_PERIOD / calib_tau;
 
     // Ensure ADCs are expected ones to simplify the logic below
     if (!(hadc == &hadc2 || hadc == &hadc3)) {
diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp
index ac03e863..c599d9f6 100644
--- a/Firmware/MotorControl/motor.cpp
+++ b/Firmware/MotorControl/motor.cpp
@@ -73,9 +73,9 @@ void Motor::DRV8301_setup() {
 
     // Solve for exact gain, then snap down to have equal or larger range as requested
     // or largest possible range otherwise
-    static const float kMargin = 0.90f;
-    static const float kTripMargin = 1.0f; // Trip level is at edge of linear range of amplifer
-    static const float max_output_swing = 1.35f; // [V] out of amplifier
+    constexpr float kMargin = 0.90f;
+    constexpr float kTripMargin = 1.0f; // Trip level is at edge of linear range of amplifer
+    constexpr float max_output_swing = 1.35f; // [V] out of amplifier
     float max_unity_gain_current = kMargin * max_output_swing * hw_config_.shunt_conductance; // [A]
     float requested_gain = max_unity_gain_current / config_.requested_current_range; // [V/V]
 
diff --git a/Firmware/communication/can_simple.cpp b/Firmware/communication/can_simple.cpp
index b00b13e0..69b84f78 100644
--- a/Firmware/communication/can_simple.cpp
+++ b/Firmware/communication/can_simple.cpp
@@ -4,7 +4,7 @@
 
 #include <cstring>
 
-static const uint8_t NUM_NODE_ID_BITS = 6;
+static constexpr uint8_t NUM_NODE_ID_BITS = 6;
 static constexpr uint8_t NUM_CMD_ID_BITS = 11 - NUM_NODE_ID_BITS;
 
 void CANSimple::handle_can_message(can_Message_t& msg) {