<ul><li>Assertions are Boolean expressions used to check for bugs in a codebase.</li><li>Setting up basic assertions can vary from one environment to another.</li><li>Developers should review the assert.h header file to see how assert is implemented in their toolchain.</li><li>Implementing assertions involves creating a function definition that will output something if assertion fails.</li><li>The common way of notifying the developer of failed assertion is to print a message of where it happened.</li><li>To stop the program from executing, developers can either place a breakpoint or use the assembly instruction __BKPT.</li><li>Developers should test their assert implementation with basic test cases.</li><li>Assertions help to catch bugs quickly, resulting in more robust firmware.</li><li>Further use of assertions includes real-time assertions and static assertions.</li><li>Real-time assertions help to find bugs without compromising safety of real-time components like motors.</li></ul>

How to use Assertions

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