FreeRTOS: Configure configASSERT fail behaviour, abort() by default

components/freertos/Kconfig

@@ -121,5 +121,30 @@ config FREERTOS_DEBUG_OCDAWARE
 		The FreeRTOS panic and unhandled exception handers can detect a JTAG OCD debugger and
 		instead of panicking, have the debugger stop on the offending instruction.
 
+choice FREERTOS_ASSERT
+	prompt "FreeRTOS assertions"
+	default FREERTOS_ASSERT_FAIL_ABORT
+	help
+		Failed FreeRTOS configASSERT() assertions can be configured to
+		behave in different ways.
+
+config FREERTOS_ASSERT_FAIL_ABORT
+	bool "abort() on failed assertions"
+	help
+		If a FreeRTOS configASSERT() fails, FreeRTOS will abort() and
+		halt execution. The panic handler can be configured to handle
+		the outcome of an abort() in different ways.
+
+config FREERTOS_ASSERT_FAIL_PRINT_CONTINUE
+	bool "Print and continue failed assertions"
+	help
+		If a FreeRTOS assertion fails, print it out and continue.
+
+config FREERTOS_ASSERT_DISABLE
+	bool "Disable FreeRTOS assertions"
+	help
+		FreeRTOS configASSERT() will not be compiled into the binary.
+
+endchoice
 
 endmenu

components/freertos/include/freertos/FreeRTOSConfig.h

@@ -106,12 +106,25 @@
 #include "xtensa_config.h"
 
 
-#if 1
+/* configASSERT behaviour */
 #ifndef __ASSEMBLER__
 #include "rom/ets_sys.h"
-#define configASSERT(a) if (!(a)) ets_printf("%s:%d (%s)- assert failed!\n", __FILE__, __LINE__, __FUNCTION__)
-#endif
+
+#if defined(CONFIG_FREERTOS_ASSERT_DISABLE)
+#define configASSERT(a) /* assertions disabled */
+#elif defined(CONFIG_FREERTOS_ASSERT_FAIL_PRINT_CONTINUE)
+#define configASSERT(a) if (!(a)) {                                     \
+        ets_printf("%s:%d (%s)- assert failed!\n", __FILE__, __LINE__,  \
+                   __FUNCTION__);                                       \
+    }
+#else /* CONFIG_FREERTOS_ASSERT_FAIL_ABORT */
+#define configASSERT(a) if (!(a)) {                                     \
+        ets_printf("%s:%d (%s)- assert failed!\n", __FILE__, __LINE__,  \
+                   __FUNCTION__);                                       \
+        abort();                                                        \
+        }
 #endif
+#endif /* def __ASSEMBLER__ */
 
 
 /*-----------------------------------------------------------