From 3359f266891636d2b10a40d4bd976584df40461a Mon Sep 17 00:00:00 2001
From: Benjamin Valentin <benjamin.valentin@ml-pa.com>
Date: Fri, 26 Apr 2024 14:07:24 +0200
Subject: [PATCH 1/3] core/assert: move common code to inline function

---
 core/lib/assert.c | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/core/lib/assert.c b/core/lib/assert.c
index 002aed0bda..fb4ff644bf 100644
--- a/core/lib/assert.c
+++ b/core/lib/assert.c
@@ -24,11 +24,12 @@
 #include "backtrace.h"
 #endif
 
-__NORETURN void _assert_failure(const char *file, unsigned line)
+__NORETURN static inline void _assert_common(void)
 {
-    printf("%s:%u => ", file, line);
 #if IS_USED(MODULE_BACKTRACE)
+#ifdef DEBUG_ASSERT_VERBOSE
     printf("failed assertion. Backtrace:\n");
+#endif
     backtrace_print();
 #endif
 #ifdef DEBUG_ASSERT_BREAKPOINT
@@ -37,16 +38,16 @@ __NORETURN void _assert_failure(const char *file, unsigned line)
     core_panic(PANIC_ASSERT_FAIL, "FAILED ASSERTION.");
 }
 
+__NORETURN void _assert_failure(const char *file, unsigned line)
+{
+    printf("%s:%u => ", file, line);
+    _assert_common();
+}
+
 __NORETURN void _assert_panic(void)
 {
     printf("%" PRIxTXTPTR "\n", cpu_get_caller_pc());
-#if IS_USED(MODULE_BACKTRACE)
-    backtrace_print();
-#endif
-#ifdef DEBUG_ASSERT_BREAKPOINT
-    DEBUG_BREAKPOINT(1);
-#endif
-    core_panic(PANIC_ASSERT_FAIL, "FAILED ASSERTION.");
+    _assert_common();
 }
 
 /** @} */

From 731ada03e584a8216f9f4ebacfd04d96e966df03 Mon Sep 17 00:00:00 2001
From: Benjamin Valentin <benjamin.valentin@ml-pa.com>
Date: Fri, 26 Apr 2024 14:16:17 +0200
Subject: [PATCH 2/3] core/assert: halt running thread instead of panic

---
 core/lib/assert.c         | 7 +++++++
 core/lib/include/assert.h | 9 +++++++++
 2 files changed, 16 insertions(+)

diff --git a/core/lib/assert.c b/core/lib/assert.c
index fb4ff644bf..73558e8cf9 100644
--- a/core/lib/assert.c
+++ b/core/lib/assert.c
@@ -19,6 +19,7 @@
 #include "architecture.h"
 #include "cpu.h"
 #include "debug.h"
+#include "irq.h"
 #include "panic.h"
 #if IS_USED(MODULE_BACKTRACE)
 #include "backtrace.h"
@@ -35,6 +36,12 @@ __NORETURN static inline void _assert_common(void)
 #ifdef DEBUG_ASSERT_BREAKPOINT
     DEBUG_BREAKPOINT(1);
 #endif
+    if (DEBUG_ASSERT_NO_PANIC && !irq_is_in() && irq_is_enabled()) {
+        puts("FAILED ASSERTION.");
+        while (1) {
+            thread_sleep();
+        }
+    }
     core_panic(PANIC_ASSERT_FAIL, "FAILED ASSERTION.");
 }
 
diff --git a/core/lib/include/assert.h b/core/lib/include/assert.h
index 55bfd29386..665813c92c 100644
--- a/core/lib/include/assert.h
+++ b/core/lib/include/assert.h
@@ -157,6 +157,15 @@ __NORETURN void _assert_panic(void);
 #endif
 #endif
 
+/**
+ * @brief   Don't panic on a failed assertion, just halt the running thread.
+ *
+ * If the assertion failed in an interrupt, the system will still panic.
+ */
+#ifndef DEBUG_ASSERT_NO_PANIC
+#define DEBUG_ASSERT_NO_PANIC (1)
+#endif
+
 #ifdef __cplusplus
 }
 #endif

From a28e98b36d8b690799ae3c0f98bcae412a19f1dc Mon Sep 17 00:00:00 2001
From: Benjamin Valentin <benjamin.valentin@ml-pa.com>
Date: Mon, 29 Apr 2024 11:01:18 +0200
Subject: [PATCH 3/3] examples/dtls-wolfssl: add maple-mini to Makefile.ci

---
 examples/dtls-wolfssl/Makefile.ci | 1 +
 1 file changed, 1 insertion(+)

diff --git a/examples/dtls-wolfssl/Makefile.ci b/examples/dtls-wolfssl/Makefile.ci
index 4783cb20a8..7c669944d1 100644
--- a/examples/dtls-wolfssl/Makefile.ci
+++ b/examples/dtls-wolfssl/Makefile.ci
@@ -35,6 +35,7 @@ BOARD_INSUFFICIENT_MEMORY := \
     nucleo-l031k6 \
     nucleo-l053r8 \
     nucleo-l412kb \
+    maple-mini \
     olimexino-stm32 \
     opencm904 \
     samd10-xmini \