diff --git a/stm-firmware/safety/safety-controller.c b/stm-firmware/safety/safety-controller.c
index ccca4a3..7ea1a4c 100644
--- a/stm-firmware/safety/safety-controller.c
+++ b/stm-firmware/safety/safety-controller.c
@@ -70,7 +70,7 @@ struct analog_mon {
 #define TIM_MON_ENTRY(mon, min, max, flag) {.name=#mon, .monitor = (mon), .associated_flag=(flag), .min_delta = (min), .max_delta = (max), .last = 0ULL, .enabled= false}
 #define ANA_MON_ENTRY(mon, min_value, max_value, flag) {.name=#mon, .monitor = (mon), .associated_flag=(flag), .min = (min_value), .max = (max_value), .value = 0.0f, .valid = false}
 
-static struct error_flag flags[] = {
+static volatile struct error_flag flags[] = {
 	ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_OFF, false),
 	ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_WATCHDOG, false),
 	ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_UNSTABLE, false),
@@ -85,23 +85,23 @@ static struct error_flag flags[] = {
 	ERR_FLAG_ENTRY(ERR_FLAG_WTCHDG_FIRED, true),
 };
 
-static struct timing_mon timings[] = {
+static volatile struct timing_mon timings[] = {
 	TIM_MON_ENTRY(ERR_TIMING_PID, 1, 800, ERR_FLAG_TIMING_PID),
 	TIM_MON_ENTRY(ERR_TIMING_MEAS_ADC, 1, 50, ERR_FLAG_TIMING_MEAS_ADC),
 	TIM_MON_ENTRY(ERR_TIMING_SAFETY_ADC, 1, 250, ERR_FLAG_SAFETY_ADC),
 };
 
-static struct analog_mon analog_mons[] = {
+static volatile struct analog_mon analog_mons[] = {
 	ANA_MON_ENTRY(ERR_AMON_VREF, SAFETY_ADC_VREF_MVOLT - SAFETY_ADC_VREF_TOL_MVOLT,
 		      SAFETY_ADC_VREF_MVOLT + SAFETY_ADC_VREF_TOL_MVOLT, ERR_FLAG_AMON_VREF),
 	ANA_MON_ENTRY(ERR_AMON_UC_TEMP, SAFETY_ADC_TEMP_LOW_LIM, SAFETY_ADC_TEMP_HIGH_LIM,
 		      ERR_FLAG_AMON_UC_TEMP),
 };
 
-static struct analog_mon *find_analog_mon(enum analog_value_monitor mon)
+static volatile struct analog_mon *find_analog_mon(enum analog_value_monitor mon)
 {
 	uint32_t i;
-	struct analog_mon *ret = NULL;
+	volatile struct analog_mon *ret = NULL;
 
 	for (i = 0; i < COUNT_OF(analog_mons); i++) {
 		if (analog_mons[i].monitor == mon)
@@ -111,10 +111,10 @@ static struct analog_mon *find_analog_mon(enum analog_value_monitor mon)
 	return ret;
 }
 
-static struct timing_mon *find_timing_mon(enum timing_monitor mon)
+static volatile struct timing_mon *find_timing_mon(enum timing_monitor mon)
 {
 	uint32_t i;
-	struct timing_mon *ret = NULL;
+	volatile struct timing_mon *ret = NULL;
 
 	for (i = 0; i < COUNT_OF(timings); i++) {
 		if (timings[i].monitor == mon)
@@ -124,10 +124,10 @@ static struct timing_mon *find_timing_mon(enum timing_monitor mon)
 	return ret;
 }
 
-static struct error_flag *find_error_flag(enum safety_flag flag)
+static volatile struct error_flag *find_error_flag(enum safety_flag flag)
 {
 	uint32_t i;
-	struct error_flag *ret = NULL;
+	volatile struct error_flag *ret = NULL;
 
 	for (i = 0; i < COUNT_OF(flags); i++) {
 		if (flags[i].flag == flag)
@@ -140,7 +140,7 @@ static struct error_flag *find_error_flag(enum safety_flag flag)
 static void safety_controller_process_active_timing_mons()
 {
 	uint32_t i;
-	struct timing_mon *current_mon;
+	volatile struct timing_mon *current_mon;
 
 	for (i = 0; i < COUNT_OF(timings); i++) {
 		current_mon = &timings[i];
@@ -201,7 +201,7 @@ int safety_controller_report_error(enum safety_flag flag)
 
 void safety_controller_report_timing(enum timing_monitor monitor)
 {
-	struct timing_mon *tim;
+	volatile struct timing_mon *tim;
 	uint64_t timestamp;
 
 	timestamp = systick_get_global_tick();
@@ -223,7 +223,7 @@ void safety_controller_report_timing(enum timing_monitor monitor)
 
 void safety_controller_report_analog_value(enum analog_value_monitor monitor, float value)
 {
-	struct analog_mon *ana;
+	volatile struct analog_mon *ana;
 
 	/* Return if not a power of two */
 	if (!is_power_of_two(monitor))
@@ -314,7 +314,7 @@ int safety_controller_handle()
 
 int safety_controller_enable_timing_mon(enum timing_monitor monitor, bool enable)
 {
-	struct timing_mon *tim;
+	volatile struct timing_mon *tim;
 
 	if (enable) {
 		safety_controller_report_timing(monitor);
@@ -330,7 +330,7 @@ int safety_controller_enable_timing_mon(enum timing_monitor monitor, bool enable
 
 enum analog_monitor_status safety_controller_get_analog_mon_value(enum analog_value_monitor monitor, float *value)
 {
-	struct analog_mon *mon;
+	volatile struct analog_mon *mon;
 	int ret = ANALOG_MONITOR_ERROR;
 
 	if (!is_power_of_two(monitor))
@@ -361,7 +361,7 @@ go_out:
 
 int safety_controller_get_flag(enum safety_flag flag, bool *status, bool try_ack)
 {
-	struct error_flag *found_flag;
+	volatile struct error_flag *found_flag;
 	int ret = -1;
 
 	if (!status)
@@ -392,7 +392,7 @@ int safety_controller_ack_flag(enum safety_flag flag)
 int safety_controller_ack_flag_with_key(enum safety_flag flag, uint32_t key)
 {
 	int ret = -1;
-	struct error_flag *found_flag;
+	volatile struct error_flag *found_flag;
 
 	if (!is_power_of_two(flag)) {
 		return -1001;