Merge #19766

19766: core/lib: make the use of DEBUG_BREAKPOINT on assert optional r=gschorcht a=gschorcht

### Contribution description

This PR makes the use of `DEBUG_BREAKPOINT` on failed assertion optional.

The behavior of `assert` has been changed with PR #19368. Instead of printing some useful information, either a breakpoint is inserted and the execution of the MCU stops in debugger or a endless while loop is executed.

Before PR #19368 the user got on failed assertion:
```
Starting ESP32x with ID: 7cdfa1e36a34
ESP-IDF SDK Version v4.4.1-0-g1329b19fe49
...
*** RIOT kernel panic:
FAILED ASSERTION.

*** halted.
```
This was very helpful during development, especially to identify quickly the cause of problems with `DEBUG_ASSERT_VERBOSE` enabled, e.g. when misconfiguration led to failed assertions.

With PR #19368 the user gets an address in best case (or even `0` on platforms like ESP32), in worst case the MCU seems to stuck, e.g.
```
Starting ESP32x with ID: 7cdfa1e36a34
ESP-IDF SDK Version v4.4.1-0-g1329b19fe49
...
0
```
The problem with the new behavior is that
- a user doesn't get a quick indication of what happened
- there is not always an easy way to attach a debugger

This PR therefore makes the use of `DEBUG_BREAKPOINT` optional using `DEBUG_ASSERT_BREAKPOINT` define.

### Testing procedure

Add `assert(0)` in `examples/hello-world/main.c` and compile with and w/o `CFLAGS='-DDEBUG_ASSERT_BREAKPOINT'`.

With `DEBUG_ASSERT_BREAKPOINT` the execution should stop in `assert_failue`. Without `DEBUG_ASSERT_BREAKPOINT`, the information as generated before PR #19368 and the execution should stop in `panic_arch`.

### Issues/PRs references



Co-authored-by: Gunar Schorcht <gunar@schorcht.net>

core/lib/assert.c

@@ -31,7 +31,9 @@ __NORETURN void _assert_failure(const char *file, unsigned line)
  printf("failed assertion. Backtrace:\n");
  backtrace_print();
 #endif
+#ifdef DEBUG_ASSERT_BREAKPOINT
  DEBUG_BREAKPOINT(1);
+#endif
  core_panic(PANIC_ASSERT_FAIL, "FAILED ASSERTION.");
 }
 
@@ -41,7 +43,9 @@ __NORETURN void _assert_panic(void)
 #if IS_USED(MODULE_BACKTRACE)
  backtrace_print();
 #endif
+#ifdef DEBUG_ASSERT_BREAKPOINT
  DEBUG_BREAKPOINT(1);
+#endif
  core_panic(PANIC_ASSERT_FAIL, "FAILED ASSERTION.");
 }
 

core/lib/include/assert.h

@@ -44,6 +44,20 @@ extern "C" {
  * ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  */
 #define DEBUG_ASSERT_VERBOSE
+
+/**
+ * @brief Activate breakpoints for @ref assert() when defined
+ *
+ * Without this macro defined the @ref assert() macro will just print some
+ * information about the failed assertion, see @ref assert and
+ * @ref DEBUG_ASSERT_VERBOSE.
+ * If @ref DEBUG_ASSERT_BREAKPOINT is defined, the execution will stop on a
+ * failed assertion instead of producing the output. If the architecture
+ * defines the macro @ref DEBUG_BREAKPOINT, a breakpoint is inserted and the
+ * execution is stopped directly in the debugger. Otherwise the execution stops
+ * in an endless while loop.
+ */
+#define DEBUG_ASSERT_BREAKPOINT
 #else
 /* we should not include custom headers in standard headers */
 #define _likely(x) __builtin_expect((uintptr_t)(x), 1)
@@ -112,6 +126,12 @@ __NORETURN void _assert_failure(const char *file, unsigned line);
  * If the `backtrace` module is enabled (and implemented for architecture in use)
  * a backtrace will be printed in addition to the location of the failed assertion.
  *
+ * If @ref DEBUG_ASSERT_BREAKPOINT is defined, the execution will stop on a
+ * failed assertion instead of producing the above output. If the architecture
+ * defines the macro @ref DEBUG_BREAKPOINT, a breakpoint is inserted and the
+ * execution is stopped directly in the debugger. Otherwise the execution stops
+ * in an endless while loop.
+ *
  * @see http://pubs.opengroup.org/onlinepubs/9699919799/functions/assert.html
  */
 #define assert(cond) (_likely(cond) ? (void)0 : _assert_failure(__FILE__, __LINE__))

tests/sys/sema_inv/Makefile.ci

@@ -1,5 +1,9 @@
 BOARD_INSUFFICIENT_MEMORY := \
+ arduino-duemilanove \
+ arduino-nano \
+ arduino-uno \
  atmega328p \
+ atmega328p-xplained-mini \
  nucleo-f031k6 \
  nucleo-l011k4 \
  #