diff --git a/erpc_c/config/erpc_config.h b/erpc_c/config/erpc_config.h
index d8c35f86e..2c4a43edd 100644
--- a/erpc_c/config/erpc_config.h
+++ b/erpc_c/config/erpc_config.h
@@ -181,6 +181,13 @@
 //! Uncomment for using pre post default callback feature.
 //#define ERPC_PRE_POST_ACTION_DEFAULT (ERPC_PRE_POST_ACTION_DEFAULT_ENABLED)
 
+//! @name Assert function definition
+//@{
+//! User custom asser defition. Include header file if needed before bellow line. If assert is not enabled, default will be used.
+// #define erpc_assert(condition)
+//@}
+
+
 /*! @} */
 #endif // _ERPC_CONFIG_H_
 ////////////////////////////////////////////////////////////////////////////////
diff --git a/erpc_c/infra/erpc_arbitrated_client_manager.cpp b/erpc_c/infra/erpc_arbitrated_client_manager.cpp
index 3ff84617f..961d55ac0 100644
--- a/erpc_c/infra/erpc_arbitrated_client_manager.cpp
+++ b/erpc_c/infra/erpc_arbitrated_client_manager.cpp
@@ -11,8 +11,6 @@
 #include "erpc_arbitrated_client_manager.h"
 #include "erpc_transport_arbitrator.h"
 
-#include "assert.h"
-
 #if ERPC_THREADS_IS(NONE)
 #error "Arbitrator code does not work in no-threading configuration."
 #endif
@@ -42,7 +40,7 @@ void ArbitratedClientManager::performClientRequest(RequestContext &request)
     erpc_status_t err;
     TransportArbitrator::client_token_t token = 0;
 
-    assert(m_arbitrator && "arbitrator not set");
+    erpc_assert(m_arbitrator && "arbitrator not set");
 
     // Set up the client receive before we send the request, so if the reply is sent
     // before we get to the clientReceive() call below the arbitrator already has the buffer.
diff --git a/erpc_c/infra/erpc_basic_codec.cpp b/erpc_c/infra/erpc_basic_codec.cpp
index 5b453858a..88bd183f3 100644
--- a/erpc_c/infra/erpc_basic_codec.cpp
+++ b/erpc_c/infra/erpc_basic_codec.cpp
@@ -150,7 +150,7 @@ void BasicCodec::writeCallback(arrayOfFunPtr callbacks, uint8_t callbacksCount,
 {
     uint8_t i;
 
-    assert(callbacksCount > 1U);
+    erpc_assert(callbacksCount > 1U);
 
     // callbacks = callbacks table
     for (i = 0; i < callbacksCount; i++)
@@ -352,7 +352,7 @@ void BasicCodec::readCallback(arrayOfFunPtr callbacks, uint8_t callbacksCount, f
 {
     uint8_t _tmp_local;
 
-    assert(callbacksCount > 1U);
+    erpc_assert(callbacksCount > 1U);
 
     // callbacks = callbacks table
     read(&_tmp_local);
diff --git a/erpc_c/infra/erpc_client_manager.cpp b/erpc_c/infra/erpc_client_manager.cpp
index 766bf4210..5b5038572 100644
--- a/erpc_c/infra/erpc_client_manager.cpp
+++ b/erpc_c/infra/erpc_client_manager.cpp
@@ -10,8 +10,6 @@
 
 #include "erpc_client_manager.h"
 
-#include "assert.h"
-
 using namespace erpc;
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -49,7 +47,7 @@ void ClientManager::performRequest(RequestContext &request)
 #if ERPC_NESTED_CALLS
     if (performRequest)
     {
-        assert(m_serverThreadId && "server thread id was not set");
+        erpc_assert(m_serverThreadId && "server thread id was not set");
         if (Thread::getCurrentThreadId() == m_serverThreadId)
         {
             performNestedClientRequest(request);
@@ -120,7 +118,7 @@ void ClientManager::performNestedClientRequest(RequestContext &request)
 {
     erpc_status_t err;
 
-    assert(m_transport && "transport/arbitrator not set");
+    erpc_assert(m_transport && "transport/arbitrator not set");
 
 #if ERPC_MESSAGE_LOGGING
     if (request.getCodec()->isStatusOk() == true)
@@ -143,7 +141,7 @@ void ClientManager::performNestedClientRequest(RequestContext &request)
         // Receive reply.
         if (request.getCodec()->isStatusOk() == true)
         {
-            assert(m_server && "server for nesting calls was not set");
+            erpc_assert(m_server && "server for nesting calls was not set");
             err = m_server->run(request);
             request.getCodec()->updateStatus(err);
         }
diff --git a/erpc_c/infra/erpc_framed_transport.cpp b/erpc_c/infra/erpc_framed_transport.cpp
index 35cab66bc..83ee8711e 100644
--- a/erpc_c/infra/erpc_framed_transport.cpp
+++ b/erpc_c/infra/erpc_framed_transport.cpp
@@ -11,7 +11,6 @@
 #include "erpc_framed_transport.h"
 #include "erpc_message_buffer.h"
 
-#include <cassert>
 #include <cstdio>
 
 using namespace erpc;
@@ -34,7 +33,7 @@ FramedTransport::~FramedTransport(void) {}
 
 void FramedTransport::setCrc16(Crc16 *crcImpl)
 {
-    assert(crcImpl);
+    erpc_assert(crcImpl);
     m_crcImpl = crcImpl;
 }
 
@@ -44,7 +43,7 @@ erpc_status_t FramedTransport::receive(MessageBuffer *message)
     erpc_status_t retVal;
     uint16_t computedCrc;
 
-    assert(m_crcImpl && "Uninitialized Crc16 object.");
+    erpc_assert(m_crcImpl && "Uninitialized Crc16 object.");
 
     {
 #if !ERPC_THREADS_IS(NONE)
@@ -102,7 +101,7 @@ erpc_status_t FramedTransport::send(MessageBuffer *message)
     uint16_t messageLength;
     Header h;
 
-    assert(m_crcImpl && "Uninitialized Crc16 object.");
+    erpc_assert(m_crcImpl && "Uninitialized Crc16 object.");
 
 #if !ERPC_THREADS_IS(NONE)
     Mutex::Guard lock(m_sendLock);
diff --git a/erpc_c/infra/erpc_message_buffer.cpp b/erpc_c/infra/erpc_message_buffer.cpp
index 87bbae9c4..d5588ee28 100644
--- a/erpc_c/infra/erpc_message_buffer.cpp
+++ b/erpc_c/infra/erpc_message_buffer.cpp
@@ -9,8 +9,8 @@
  */
 
 #include "erpc_message_buffer.h"
+#include "erpc_config_internal.h"
 
-#include <cassert>
 #include <cstring>
 
 using namespace erpc;
@@ -64,7 +64,7 @@ erpc_status_t MessageBuffer::write(uint16_t offset, const void *data, uint32_t l
 
 erpc_status_t MessageBuffer::copy(const MessageBuffer *other)
 {
-    assert(m_len >= other->m_len);
+    erpc_assert(m_len >= other->m_len);
 
     m_used = other->m_used;
     (void)memcpy(m_buf, other->m_buf, m_used);
@@ -74,7 +74,7 @@ erpc_status_t MessageBuffer::copy(const MessageBuffer *other)
 
 void MessageBuffer::swap(MessageBuffer *other)
 {
-    assert(other);
+    erpc_assert(other);
 
     MessageBuffer temp(*other);
 
@@ -90,7 +90,7 @@ void MessageBuffer::Cursor::set(MessageBuffer *buffer)
 {
     m_buffer = buffer;
     // RPMSG when nested calls are enabled can set NULL buffer.
-    // assert(buffer->get() && "Data buffer wasn't set to MessageBuffer.");
+    // erpc_assert(buffer->get() && "Data buffer wasn't set to MessageBuffer.");
     // receive function should return err if it couldn't set data buffer.
     m_pos = buffer->get();
     m_remaining = buffer->getLength();
@@ -98,7 +98,7 @@ void MessageBuffer::Cursor::set(MessageBuffer *buffer)
 
 erpc_status_t MessageBuffer::Cursor::read(void *data, uint32_t length)
 {
-    assert(m_pos && "Data buffer wasn't set to MessageBuffer.");
+    erpc_assert(m_pos && "Data buffer wasn't set to MessageBuffer.");
 
     erpc_status_t err;
 
@@ -120,7 +120,7 @@ erpc_status_t MessageBuffer::Cursor::read(void *data, uint32_t length)
 
 erpc_status_t MessageBuffer::Cursor::write(const void *data, uint32_t length)
 {
-    assert(m_pos && "Data buffer wasn't set to MessageBuffer.");
+    erpc_assert(m_pos && "Data buffer wasn't set to MessageBuffer.");
 
     erpc_status_t err;
 
diff --git a/erpc_c/infra/erpc_server.cpp b/erpc_c/infra/erpc_server.cpp
index daea93844..db720f4e6 100644
--- a/erpc_c/infra/erpc_server.cpp
+++ b/erpc_c/infra/erpc_server.cpp
@@ -10,8 +10,6 @@
 
 #include "erpc_server.h"
 
-#include "assert.h"
-
 using namespace erpc;
 
 ////////////////////////////////////////////////////////////////////////////////
diff --git a/erpc_c/infra/erpc_transport_arbitrator.cpp b/erpc_c/infra/erpc_transport_arbitrator.cpp
index c70e82545..fd9d496ef 100644
--- a/erpc_c/infra/erpc_transport_arbitrator.cpp
+++ b/erpc_c/infra/erpc_transport_arbitrator.cpp
@@ -8,10 +8,9 @@
  * SPDX-License-Identifier: BSD-3-Clause
  */
 #include "erpc_transport_arbitrator.h"
-
+#include "erpc_config_internal.h"
 #include "erpc_manually_constructed.h"
 
-#include <cassert>
 #include <cstdio>
 #include <string>
 
@@ -47,21 +46,21 @@ TransportArbitrator::~TransportArbitrator(void)
 
 void TransportArbitrator::setCrc16(Crc16 *crcImpl)
 {
-    assert(crcImpl);
-    assert(m_sharedTransport);
+    erpc_assert(crcImpl);
+    erpc_assert(m_sharedTransport);
     m_sharedTransport->setCrc16(crcImpl);
 }
 
 bool TransportArbitrator::hasMessage(void)
 {
-    assert(m_sharedTransport && "shared transport is not set");
+    erpc_assert(m_sharedTransport && "shared transport is not set");
 
     return m_sharedTransport->hasMessage();
 }
 
 erpc_status_t TransportArbitrator::receive(MessageBuffer *message)
 {
-    assert(m_sharedTransport && "shared transport is not set");
+    erpc_assert(m_sharedTransport && "shared transport is not set");
 
     erpc_status_t err;
     message_type_t msgType;
@@ -142,7 +141,7 @@ erpc_status_t TransportArbitrator::receive(MessageBuffer *message)
 
 erpc_status_t TransportArbitrator::send(MessageBuffer *message)
 {
-    assert(m_sharedTransport && "shared transport is not set");
+    erpc_assert(m_sharedTransport && "shared transport is not set");
     return m_sharedTransport->send(message);
 }
 
@@ -159,7 +158,7 @@ TransportArbitrator::client_token_t TransportArbitrator::prepareClientReceive(Re
 
 erpc_status_t TransportArbitrator::clientReceive(client_token_t token)
 {
-    assert((token != 0) && "invalid client token");
+    erpc_assert((token != 0) && "invalid client token");
 
     // Convert token to pointer to info struct for this client receive request.
     PendingClientInfo *info = reinterpret_cast<PendingClientInfo *>(token);
diff --git a/erpc_c/port/erpc_config_internal.h b/erpc_c/port/erpc_config_internal.h
index f96346661..cc54decae 100644
--- a/erpc_c/port/erpc_config_internal.h
+++ b/erpc_c/port/erpc_config_internal.h
@@ -49,13 +49,13 @@
 
 // Detect allocation policy if not already set.
 #if !defined(ERPC_ALLOCATION_POLICY)
-    #if defined(__has_include) && __has_include("FreeRTOSConfig.h")
+    #if ERPC_HAS_FREERTOSCONFIG_H
         #ifdef __cplusplus
-        extern "C" {
+            extern "C" {
         #endif
         #include "FreeRTOSConfig.h"
         #ifdef __cplusplus
-        }
+            }
         #endif
         #if defined(configSUPPORT_STATIC_ALLOCATION) && configSUPPORT_STATIC_ALLOCATION
             #define ERPC_ALLOCATION_POLICY (ERPC_ALLOCATION_POLICY_STATIC)
@@ -68,15 +68,15 @@
 #endif
 
 #if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_STATIC
-#if !defined(ERPC_CODEC_COUNT)
-#define ERPC_CODEC_COUNT (2U)
-#endif
-#if !defined(ERPC_MESSAGE_LOGGERS_COUNT)
-#define ERPC_MESSAGE_LOGGERS_COUNT (0U)
-#endif
-#if !defined(ERPC_CLIENTS_THREADS_AMOUNT)
-#define ERPC_CLIENTS_THREADS_AMOUNT (1U)
-#endif
+    #if !defined(ERPC_CODEC_COUNT)
+        #define ERPC_CODEC_COUNT (2U)
+    #endif
+    #if !defined(ERPC_MESSAGE_LOGGERS_COUNT)
+        #define ERPC_MESSAGE_LOGGERS_COUNT (0U)
+    #endif
+    #if !defined(ERPC_CLIENTS_THREADS_AMOUNT)
+        #define ERPC_CLIENTS_THREADS_AMOUNT (1U)
+    #endif
 #endif
 
 // Safely detect tx_api.h.
@@ -133,9 +133,9 @@
 
 //NOEXCEPT support
 #if defined(__cplusplus) && __cplusplus >= 201103 && ERPC_NOEXCEPT
-#define NOEXCEPT noexcept
+    #define NOEXCEPT noexcept
 #else
-#define NOEXCEPT
+    #define NOEXCEPT
 #endif // NOEXCEPT
 
 // Disabling nesting calls support as default.
@@ -162,11 +162,11 @@
 #endif
 
 #if defined(__CC_ARM) || defined(__ARMCC_VERSION) /* Keil MDK */
-#define THROW_BADALLOC throw(std::bad_alloc)
-#define THROW throw()
+    #define THROW_BADALLOC throw(std::bad_alloc)
+    #define THROW throw()
 #else
-#define THROW_BADALLOC
-#define THROW
+    #define THROW_BADALLOC
+    #define THROW
 #endif
 
 #ifndef ERPC_TRANSPORT_MU_USE_MCMGR
@@ -195,6 +195,30 @@
     #define ERPC_PRE_POST_ACTION_DEFAULT (ERPC_PRE_POST_ACTION_DEFAULT_DISABLED)
 #endif
 
+#if !defined(erpc_assert)
+    #if ERPC_HAS_FREERTOSCONFIG_H 
+        #ifdef __cplusplus
+            extern "C" {
+        #endif
+        #include "FreeRTOS.h"
+        #include "task.h"
+        #ifdef __cplusplus
+            }
+        #endif
+        #define erpc_assert(condition) configASSERT(condition)
+    #elif defined(ERPC_THREADS) && (ERPC_THREADS == ERPC_THREADS_MBED)
+        #include "platform/mbed_assert.h"
+        #define erpc_assert(condition) MBED_ASSERT(condition)
+    #else
+        #ifdef __cplusplus
+            #include <cassert>
+        #else
+            #include "assert.h"
+        #endif
+        #define erpc_assert(condition) assert(condition)
+    #endif
+#endif
+
 /* clang-format on */
 #endif // _ERPC_DETECT_H_
 ////////////////////////////////////////////////////////////////////////////////
diff --git a/erpc_c/port/erpc_setup_extensions_freertos.cpp b/erpc_c/port/erpc_setup_extensions_freertos.cpp
index 2f16024a2..b93e4a29e 100644
--- a/erpc_c/port/erpc_setup_extensions_freertos.cpp
+++ b/erpc_c/port/erpc_setup_extensions_freertos.cpp
@@ -11,8 +11,6 @@
 #include "erpc_setup_extensions.h"
 #include "erpc_threading.h"
 
-#include <cassert>
-
 using namespace erpc;
 
 static Semaphore *s_erpc_call_in_progress = NULL;
@@ -25,10 +23,10 @@ ERPC_MANUALLY_CONSTRUCTED_STATIC(Semaphore, s_semaphore);
 
 void erpc::erpc_pre_cb_default(void)
 {
-    assert(s_erpc_call_in_progress &&
+    erpc_assert(s_erpc_call_in_progress &&
            "If you want use default pre cb action, do not forget call erpc_init_call_progress_detection_default.");
     (void)s_erpc_call_in_progress->get(s_erpc_call_in_progress->kWaitForever);
-    assert(s_erpc_call_timer_cb &&
+    erpc_assert(s_erpc_call_timer_cb &&
            "If you want use default pre cb action, do not forget call erpc_init_call_progress_detection_default.");
     xTimerStart(s_erpc_call_timer_cb, 0);
 }
@@ -42,7 +40,7 @@ void erpc::erpc_post_cb_default(void)
 static void erpc_call_timer_cb_default(TimerHandle_t xTimer)
 {
     (void)xTimer;
-    assert(1 && "eRPC task freezed.");
+    erpc_assert(1 && "eRPC task freezed.");
 }
 
 void erpc_init_call_progress_detection_default(
@@ -56,7 +54,7 @@ void erpc_init_call_progress_detection_default(
     s_semaphore.construct(semaphoreCount);
     s_erpc_call_in_progress = s_semaphore.get();
 #endif
-    assert(s_erpc_call_in_progress && "Creating eRPC semaphore failed.");
+    erpc_assert(s_erpc_call_in_progress && "Creating eRPC semaphore failed.");
 
 #if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_STATIC
     s_erpc_call_timer_cb = xTimerCreateStatic("Erpc client call timer", waitTimeMs / portTICK_PERIOD_MS, pdFALSE, NULL,
@@ -65,7 +63,7 @@ void erpc_init_call_progress_detection_default(
     s_erpc_call_timer_cb =
         xTimerCreate("Erpc client call timer", waitTimeMs / portTICK_PERIOD_MS, pdFALSE, NULL, erpc_call_timer_cb);
 #endif
-    assert(s_erpc_call_timer_cb && "Creating eRPC timer failed.");
+    erpc_assert(s_erpc_call_timer_cb && "Creating eRPC timer failed.");
 }
 
 void erpc_deinit_call_progress_detection_default(void)
@@ -87,7 +85,7 @@ void erpc_deinit_call_progress_detection_default(void)
 
 bool erpc_is_call_in_progress_default(void)
 {
-    assert(s_erpc_call_in_progress &&
+    erpc_assert(s_erpc_call_in_progress &&
            "If you want use default pre cb action, do not forget call erpc_init_call_progress_detection_default.");
     if (s_erpc_call_in_progress->get(0))
     {
@@ -100,12 +98,12 @@ bool erpc_is_call_in_progress_default(void)
 void erpc_reset_in_progress_state_default(void)
 {
 
-    assert(s_erpc_call_in_progress &&
+    erpc_assert(s_erpc_call_in_progress &&
            "If you want use default pre cb action, do not forget call erpc_init_call_progress_detection_default.");
     s_erpc_call_in_progress->get(0);
     s_erpc_call_in_progress->put();
 
-    assert(s_erpc_call_timer_cb &&
+    erpc_assert(s_erpc_call_timer_cb &&
            "If you want use default pre cb action, do not forget call erpc_init_call_progress_detection_default.");
     (void)xTimerStop(s_erpc_call_timer_cb, 0);
 }
diff --git a/erpc_c/port/erpc_threading_freertos.cpp b/erpc_c/port/erpc_threading_freertos.cpp
index 7a027aa19..42affe272 100644
--- a/erpc_c/port/erpc_threading_freertos.cpp
+++ b/erpc_c/port/erpc_threading_freertos.cpp
@@ -10,7 +10,6 @@
 
 #include "erpc_threading.h"
 
-#include <cassert>
 #include <errno.h>
 
 #if ERPC_THREADS_IS(FREERTOS)
@@ -150,7 +149,7 @@ void Thread::threadEntryPoint(void)
 void Thread::threadEntryPointStub(void *arg)
 {
     Thread *_this = reinterpret_cast<Thread *>(arg);
-    assert(_this && "Reinterpreting 'void *arg' to 'Thread *' failed.");
+    erpc_assert(_this && "Reinterpreting 'void *arg' to 'Thread *' failed.");
     _this->threadEntryPoint();
 
     // Remove this thread from the linked list.
diff --git a/erpc_c/port/erpc_threading_mbed.cpp b/erpc_c/port/erpc_threading_mbed.cpp
index d95eed4cc..c93832183 100644
--- a/erpc_c/port/erpc_threading_mbed.cpp
+++ b/erpc_c/port/erpc_threading_mbed.cpp
@@ -13,7 +13,6 @@
 #include "erpc_threading.h"
 
 #include "platform/CriticalSectionLock.h"
-#include "platform/mbed_assert.h"
 
 #if ERPC_THREADS_IS(MBED)
 
@@ -135,7 +134,7 @@ void Thread::threadEntryPoint(void)
 void Thread::threadEntryPointStub(void *arg)
 {
     Thread *_this = reinterpret_cast<Thread *>(arg);
-    MBED_ASSERT(_this); // Reinterpreting 'void *arg' to 'Thread *' failed.
+    erpc_assert(_this); // Reinterpreting 'void *arg' to 'Thread *' failed.
     _this->threadEntryPoint();
 
     // Remove this thread from the linked list.
diff --git a/erpc_c/port/erpc_threading_threadx.cpp b/erpc_c/port/erpc_threading_threadx.cpp
index 49d57ff59..d36c0ac93 100644
--- a/erpc_c/port/erpc_threading_threadx.cpp
+++ b/erpc_c/port/erpc_threading_threadx.cpp
@@ -10,7 +10,6 @@
 
 #include "erpc_threading.h"
 
-#include <cassert>
 #include <errno.h>
 
 #if ERPC_THREADS_IS(THREADX)
@@ -171,7 +170,7 @@ void Thread::threadEntryPoint(void)
 void Thread::threadEntryPointStub(ULONG arg)
 {
     Thread *_this = reinterpret_cast<Thread *>(arg);
-    assert(_this && "Reinterpreting 'void *arg' to 'Thread *' failed.");
+    erpc_assert(_this && "Reinterpreting 'void *arg' to 'Thread *' failed.");
     _this->threadEntryPoint();
 
     // Remove this thread from the linked list.
diff --git a/erpc_c/port/erpc_threading_zephyr.cpp b/erpc_c/port/erpc_threading_zephyr.cpp
index 03cda1df9..4c475165a 100644
--- a/erpc_c/port/erpc_threading_zephyr.cpp
+++ b/erpc_c/port/erpc_threading_zephyr.cpp
@@ -9,8 +9,6 @@
 
 #include "erpc_threading.h"
 
-#include <cassert>
-
 #if ERPC_THREADS_IS(ZEPHYR)
 
 using namespace erpc;
@@ -56,7 +54,7 @@ void Thread::start(void *arg)
 {
     m_arg = arg;
 
-    assert(m_stack && "Set stack address");
+    erpc_assert(m_stack && "Set stack address");
     k_thread_create(&m_thread, m_stack, m_stackSize, threadEntryPointStub, this, NULL, NULL, m_priority, 0, K_NO_WAIT);
 }
 
@@ -86,7 +84,7 @@ void Thread::threadEntryPoint(void)
 void *Thread::threadEntryPointStub(void *arg1, void *arg2, void *arg3)
 {
     Thread *_this = reinterpret_cast<Thread *>(arg1);
-    assert(_this && "Reinterpreting 'void *arg1' to 'Thread *' failed.");
+    erpc_assert(_this && "Reinterpreting 'void *arg1' to 'Thread *' failed.");
     k_thread_custom_data_set(arg1);
     _this->threadEntryPoint();
 
diff --git a/erpc_c/setup/erpc_arbitrated_client_setup.cpp b/erpc_c/setup/erpc_arbitrated_client_setup.cpp
index 6df4a8300..c3c962448 100644
--- a/erpc_c/setup/erpc_arbitrated_client_setup.cpp
+++ b/erpc_c/setup/erpc_arbitrated_client_setup.cpp
@@ -18,7 +18,6 @@
 #if ERPC_NESTED_CALLS
 #include "erpc_threading.h"
 #endif
-#include <cassert>
 
 #if ERPC_THREADS_IS(NONE)
 #error "Arbitrator code does not work in no-threading configuration."
@@ -46,7 +45,7 @@ ERPC_MANUALLY_CONSTRUCTED(Crc16, s_crc16);
 
 erpc_transport_t erpc_arbitrated_client_init(erpc_transport_t transport, erpc_mbf_t message_buffer_factory)
 {
-    assert(transport);
+    erpc_assert(transport);
 
     Transport *castedTransport;
 
@@ -126,14 +125,14 @@ bool erpc_arbitrated_client_add_message_logger(erpc_transport_t transport)
 #if ERPC_PRE_POST_ACTION
 void erpc_arbitrated_client_add_pre_cb_action(pre_post_action_cb preCB)
 {
-    assert(g_client);
+    erpc_assert(g_client);
 
     g_client->addPreCB(preCB);
 }
 
 void erpc_arbitrated_client_add_post_cb_action(pre_post_action_cb postCB)
 {
-    assert(g_client);
+    erpc_assert(g_client);
 
     g_client->addPostCB(postCB);
 }
diff --git a/erpc_c/setup/erpc_client_setup.cpp b/erpc_c/setup/erpc_client_setup.cpp
index e653bf4f0..4dd5e5f12 100644
--- a/erpc_c/setup/erpc_client_setup.cpp
+++ b/erpc_c/setup/erpc_client_setup.cpp
@@ -9,7 +9,6 @@
  */
 
 #include "erpc_client_setup.h"
-
 #include "erpc_basic_codec.h"
 #include "erpc_client_manager.h"
 #include "erpc_crc16.h"
@@ -17,7 +16,6 @@
 #include "erpc_message_buffer.h"
 #include "erpc_transport.h"
 
-#include <cassert>
 #if ERPC_NESTED_CALLS
 #include "erpc_threading.h"
 #endif
@@ -41,7 +39,7 @@ ERPC_MANUALLY_CONSTRUCTED(Crc16, s_crc16);
 
 void erpc_client_init(erpc_transport_t transport, erpc_mbf_t message_buffer_factory)
 {
-    assert(transport);
+    erpc_assert(transport);
 
     Transport *castedTransport;
 
@@ -111,14 +109,14 @@ bool erpc_client_add_message_logger(erpc_transport_t transport)
 #if ERPC_PRE_POST_ACTION
 void erpc_client_add_pre_cb_action(pre_post_action_cb preCB)
 {
-    assert(g_client);
+    erpc_assert(g_client);
 
     g_client->addPreCB(preCB);
 }
 
 void erpc_client_add_post_cb_action(pre_post_action_cb postCB)
 {
-    assert(g_client);
+    erpc_assert(g_client);
 
     g_client->addPostCB(postCB);
 }
diff --git a/erpc_c/setup/erpc_server_setup.cpp b/erpc_c/setup/erpc_server_setup.cpp
index 3288a1f73..ee161d3cf 100644
--- a/erpc_c/setup/erpc_server_setup.cpp
+++ b/erpc_c/setup/erpc_server_setup.cpp
@@ -9,7 +9,6 @@
  */
 
 #include "erpc_server_setup.h"
-
 #include "erpc_basic_codec.h"
 #include "erpc_crc16.h"
 #include "erpc_manually_constructed.h"
@@ -17,8 +16,6 @@
 #include "erpc_simple_server.h"
 #include "erpc_transport.h"
 
-#include <cassert>
-
 using namespace erpc;
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -38,7 +35,7 @@ ERPC_MANUALLY_CONSTRUCTED(Crc16, s_crc16);
 
 erpc_server_t erpc_server_init(erpc_transport_t transport, erpc_mbf_t message_buffer_factory)
 {
-    assert(transport);
+    erpc_assert(transport);
 
     Transport *castedTransport;
 
@@ -147,14 +144,14 @@ bool erpc_server_add_message_logger(erpc_transport_t transport)
 #if ERPC_PRE_POST_ACTION
 void erpc_client_add_pre_cb_action(pre_post_action_cb preCB)
 {
-    assert(g_server);
+    erpc_assert(g_server);
 
     g_server->addPreCB(preCB);
 }
 
 void erpc_client_add_post_cb_action(pre_post_action_cb postCB)
 {
-    assert(g_server);
+    erpc_assert(g_server);
 
     g_server->addPostCB(postCB);
 }
diff --git a/erpc_c/setup/erpc_setup_mbf_dynamic.cpp b/erpc_c/setup/erpc_setup_mbf_dynamic.cpp
index e0e0ab69e..0fbfe9b44 100644
--- a/erpc_c/setup/erpc_setup_mbf_dynamic.cpp
+++ b/erpc_c/setup/erpc_setup_mbf_dynamic.cpp
@@ -12,7 +12,6 @@
 #include "erpc_mbf_setup.h"
 #include "erpc_message_buffer.h"
 
-#include <assert.h>
 #include <new>
 
 using namespace std;
@@ -36,7 +35,7 @@ class DynamicMessageBufferFactory : public MessageBufferFactory
 
     virtual void dispose(MessageBuffer *buf)
     {
-        assert(buf);
+        erpc_assert(buf);
         if (buf->get() != NULL)
         {
             delete[] buf->get();
diff --git a/erpc_c/setup/erpc_setup_mbf_rpmsg.cpp b/erpc_c/setup/erpc_setup_mbf_rpmsg.cpp
index de769061e..e7bc453ae 100644
--- a/erpc_c/setup/erpc_setup_mbf_rpmsg.cpp
+++ b/erpc_c/setup/erpc_setup_mbf_rpmsg.cpp
@@ -16,8 +16,6 @@
 
 #include "rpmsg_lite.h"
 
-#include <assert.h>
-
 using namespace erpc;
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -53,7 +51,7 @@ class RPMsgMessageBufferFactory : public MessageBufferFactory
         uint32_t size = 0;
         buf = rpmsg_lite_alloc_tx_buffer(m_rpmsg, &size, RL_BLOCK);
 
-        assert(NULL != buf);
+        erpc_assert(NULL != buf);
         return MessageBuffer((uint8_t *)buf, size);
     }
 
@@ -64,7 +62,7 @@ class RPMsgMessageBufferFactory : public MessageBufferFactory
      */
     virtual void dispose(MessageBuffer *buf)
     {
-        assert(buf);
+        erpc_assert(buf);
         void *tmp = (void *)buf->get();
         if (tmp != NULL)
         {
diff --git a/erpc_c/setup/erpc_setup_mbf_rpmsg_tty.cpp b/erpc_c/setup/erpc_setup_mbf_rpmsg_tty.cpp
index 25daebb5f..9dd716e6e 100644
--- a/erpc_c/setup/erpc_setup_mbf_rpmsg_tty.cpp
+++ b/erpc_c/setup/erpc_setup_mbf_rpmsg_tty.cpp
@@ -17,8 +17,6 @@
 
 #include "rpmsg_lite.h"
 
-#include <assert.h>
-
 using namespace erpc;
 
 #define TIMEOUT_MS 10
@@ -56,7 +54,7 @@ class RPMsgTTYMessageBufferFactory : public MessageBufferFactory
         uint32_t size = 0;
         buf = rpmsg_lite_alloc_tx_buffer(m_rpmsg, &size, TIMEOUT_MS);
 
-        assert(NULL != buf);
+        erpc_assert(NULL != buf);
         return MessageBuffer(&((uint8_t *)buf)[sizeof(FramedTransport::Header)],
                              size - sizeof(FramedTransport::Header));
     }
@@ -68,7 +66,7 @@ class RPMsgTTYMessageBufferFactory : public MessageBufferFactory
      */
     virtual void dispose(MessageBuffer *buf)
     {
-        assert(buf);
+        erpc_assert(buf);
         void *tmp = (void *)buf->get();
         if (tmp != NULL)
         {
diff --git a/erpc_c/setup/erpc_setup_mbf_static.cpp b/erpc_c/setup/erpc_setup_mbf_static.cpp
index 34997f0b9..2b66dc863 100644
--- a/erpc_c/setup/erpc_setup_mbf_static.cpp
+++ b/erpc_c/setup/erpc_setup_mbf_static.cpp
@@ -13,7 +13,6 @@
 #include "erpc_mbf_setup.h"
 #include "erpc_message_buffer.h"
 
-#include <assert.h>
 #include <string.h>
 
 #if !ERPC_THREADS_IS(NONE)
@@ -67,7 +66,7 @@ class StaticMessageBufferFactory : public MessageBufferFactory
             idx++;
         }
 
-        assert(idx < ERPC_DEFAULT_BUFFERS_COUNT);
+        erpc_assert(idx < ERPC_DEFAULT_BUFFERS_COUNT);
 
         m_freeBufferBitmap[idx >> 3U] &= ~(1U << (idx & 0x7U));
 #if !ERPC_THREADS_IS(NONE)
@@ -77,7 +76,7 @@ class StaticMessageBufferFactory : public MessageBufferFactory
         uint8_t *buf;
         buf = (uint8_t *)m_buffers[idx];
 
-        assert(NULL != buf);
+        erpc_assert(NULL != buf);
         return MessageBuffer(buf, ERPC_DEFAULT_BUFFER_SIZE);
     }
 
@@ -88,7 +87,7 @@ class StaticMessageBufferFactory : public MessageBufferFactory
      */
     virtual void dispose(MessageBuffer *buf)
     {
-        assert(buf);
+        erpc_assert(buf);
         uint8_t *tmp = buf->get();
         if (tmp != NULL)
         {
diff --git a/erpc_c/transports/erpc_inter_thread_buffer_transport.cpp b/erpc_c/transports/erpc_inter_thread_buffer_transport.cpp
index 8ccd14aae..2ee346676 100644
--- a/erpc_c/transports/erpc_inter_thread_buffer_transport.cpp
+++ b/erpc_c/transports/erpc_inter_thread_buffer_transport.cpp
@@ -10,8 +10,6 @@
 
 #include "erpc_inter_thread_buffer_transport.h"
 
-#include <cassert>
-
 using namespace erpc;
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -41,13 +39,13 @@ void InterThreadBufferTransport::linkWithPeer(InterThreadBufferTransport *peer)
 
 erpc_status_t InterThreadBufferTransport::receive(MessageBuffer *message)
 {
-    assert(m_state && m_peer);
+    erpc_assert(m_state && m_peer);
 
     m_inSem.get();
 
     m_state->m_mutex.lock();
 
-    assert(m_inBuffer);
+    erpc_assert(m_inBuffer);
     message->copy(m_inBuffer);
     m_inBuffer = NULL;
 
@@ -60,13 +58,13 @@ erpc_status_t InterThreadBufferTransport::receive(MessageBuffer *message)
 
 erpc_status_t InterThreadBufferTransport::send(MessageBuffer *message)
 {
-    assert(m_state && m_peer);
+    erpc_assert(m_state && m_peer);
 
     m_peer->m_outSem.get();
 
     m_state->m_mutex.lock();
 
-    assert(m_peer->m_inBuffer == NULL);
+    erpc_assert(m_peer->m_inBuffer == NULL);
     m_peer->m_inBuffer = const_cast<MessageBuffer *>(message);
     m_peer->m_inSem.put();
 
diff --git a/erpc_c/transports/erpc_rpmsg_linux_transport.cpp b/erpc_c/transports/erpc_rpmsg_linux_transport.cpp
index de4d41ec9..7750f135a 100644
--- a/erpc_c/transports/erpc_rpmsg_linux_transport.cpp
+++ b/erpc_c/transports/erpc_rpmsg_linux_transport.cpp
@@ -9,7 +9,6 @@
 
 #include "erpc_rpmsg_linux_transport.h"
 
-#include <cassert>
 #include <unistd.h>
 
 using namespace erpc;
@@ -29,7 +28,7 @@ RPMsgLinuxTransport::~RPMsgLinuxTransport(void) {}
 
 erpc_status_t RPMsgLinuxTransport::init(void)
 {
-    assert(m_endPoint != NULL);
+    erpc_assert(m_endPoint != NULL);
 
     return (m_endPoint->init()) ? kErpcStatus_Fail : kErpcStatus_Success;
 }
diff --git a/erpc_c/transports/erpc_rpmsg_lite_rtos_transport.cpp b/erpc_c/transports/erpc_rpmsg_lite_rtos_transport.cpp
old mode 100755
new mode 100644
index 290ed01e6..0e02311c4
--- a/erpc_c/transports/erpc_rpmsg_lite_rtos_transport.cpp
+++ b/erpc_c/transports/erpc_rpmsg_lite_rtos_transport.cpp
@@ -9,13 +9,10 @@
  */
 
 #include "erpc_rpmsg_lite_rtos_transport.h"
-
 #include "erpc_config_internal.h"
 
 #include "rpmsg_ns.h"
 
-#include <cassert>
-
 using namespace erpc;
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -249,7 +246,7 @@ erpc_status_t RPMsgRTOSTransport::receive(MessageBuffer *message)
     int32_t ret_val;
 
     ret_val = rpmsg_queue_recv_nocopy(s_rpmsg, m_rpmsg_queue, &m_dst_addr, &buf, &length, RL_BLOCK);
-    assert(buf);
+    erpc_assert(buf);
     message->set((uint8_t *)buf, length);
     message->setUsed(length);
 
diff --git a/erpc_c/transports/erpc_rpmsg_tty_rtos_transport.cpp b/erpc_c/transports/erpc_rpmsg_tty_rtos_transport.cpp
old mode 100755
new mode 100644
index 32bdf099f..baadaceac
--- a/erpc_c/transports/erpc_rpmsg_tty_rtos_transport.cpp
+++ b/erpc_c/transports/erpc_rpmsg_tty_rtos_transport.cpp
@@ -9,14 +9,11 @@
  */
 
 #include "erpc_rpmsg_tty_rtos_transport.h"
-
 #include "erpc_config_internal.h"
 #include "erpc_framed_transport.h"
 
 #include "rpmsg_ns.h"
 
-#include <cassert>
-
 using namespace erpc;
 using namespace std;
 
@@ -74,7 +71,7 @@ RPMsgTTYRTOSTransport::~RPMsgTTYRTOSTransport(void)
 
 void RPMsgTTYRTOSTransport::setCrc16(Crc16 *crcImpl)
 {
-    assert(crcImpl);
+    erpc_assert(crcImpl);
     m_crcImpl = crcImpl;
 }
 
@@ -258,8 +255,8 @@ erpc_status_t RPMsgTTYRTOSTransport::receive(MessageBuffer *message)
     int32_t ret_val = rpmsg_queue_recv_nocopy(s_rpmsg, m_rpmsg_queue, &m_dst_addr, &buf, &length, RL_BLOCK);
     uint16_t computedCrc;
 
-    assert(m_crcImpl && "Uninitialized Crc16 object.");
-    assert(buf);
+    erpc_assert(m_crcImpl && "Uninitialized Crc16 object.");
+    erpc_assert(buf);
 
     if (ret_val == RL_SUCCESS)
     {
@@ -294,7 +291,7 @@ erpc_status_t RPMsgTTYRTOSTransport::send(MessageBuffer *message)
     uint32_t used = message->getUsed();
     int32_t ret_val;
 
-    assert(m_crcImpl && "Uninitialized Crc16 object.");
+    erpc_assert(m_crcImpl && "Uninitialized Crc16 object.");
     message->set(NULL, 0);
 
     h.m_crc = m_crcImpl->computeCRC16(buf, used);
diff --git a/erpcsniffer/src/erpc_config.h b/erpcsniffer/src/erpc_config.h
index 4408628fc..f1a68c01a 100644
--- a/erpcsniffer/src/erpc_config.h
+++ b/erpcsniffer/src/erpc_config.h
@@ -174,6 +174,12 @@
 //! Uncomment for using pre post default callback feature.
 //#define ERPC_PRE_POST_ACTION_DEFAULT (ERPC_PRE_POST_ACTION_DEFAULT_ENABLED)
 
+//! @name Assert function definition
+//@{
+//! User custom asser defition. Include header file if needed before bellow line. If assert is not enabled, default will be used.
+// #define erpc_assert(condition)
+//@}
+
 /*! @} */
 #endif // _ERPC_CONFIG_H_
 ////////////////////////////////////////////////////////////////////////////////
diff --git a/test/common/config/erpc_config.h b/test/common/config/erpc_config.h
index 97d5cb9d2..4d35278c8 100644
--- a/test/common/config/erpc_config.h
+++ b/test/common/config/erpc_config.h
@@ -180,6 +180,12 @@
 //! Uncomment for using pre post default callback feature.
 //#define ERPC_PRE_POST_ACTION_DEFAULT (ERPC_PRE_POST_ACTION_DEFAULT_ENABLED)
 
+//! @name Assert function definition
+//@{
+//! User custom asser defition. Include header file if needed before bellow line. If assert is not enabled, default will be used.
+// #define erpc_assert(condition)
+//@}
+
 /*! @} */
 #endif // _ERPC_CONFIG_H_
 ////////////////////////////////////////////////////////////////////////////////
diff --git a/test/common/unit_test_serial_client.cpp b/test/common/unit_test_serial_client.cpp
index 890a4185a..5db37c937 100644
--- a/test/common/unit_test_serial_client.cpp
+++ b/test/common/unit_test_serial_client.cpp
@@ -29,7 +29,7 @@ class MyMessageBufferFactory : public MessageBufferFactory
 
     virtual void dispose(MessageBuffer *buf)
     {
-        assert(buf);
+        erpc_assert(buf);
         if (*buf)
         {
             delete[] buf->get();
diff --git a/test/common/unit_test_serial_server.cpp b/test/common/unit_test_serial_server.cpp
index 5892b16dd..56557c4f5 100644
--- a/test/common/unit_test_serial_server.cpp
+++ b/test/common/unit_test_serial_server.cpp
@@ -30,7 +30,7 @@ class MyMessageBufferFactory : public MessageBufferFactory
 
     virtual void dispose(MessageBuffer *buf)
     {
-        assert(buf);
+        erpc_assert(buf);
         if (*buf)
         {
             delete[] buf->get();
diff --git a/test/common/unit_test_tcp_arbitrator_client.cpp b/test/common/unit_test_tcp_arbitrator_client.cpp
index 36bc9ed14..9fdc62376 100644
--- a/test/common/unit_test_tcp_arbitrator_client.cpp
+++ b/test/common/unit_test_tcp_arbitrator_client.cpp
@@ -33,7 +33,7 @@ class MyMessageBufferFactory : public MessageBufferFactory
 
     virtual void dispose(MessageBuffer *buf)
     {
-        assert(buf);
+        erpc_assert(buf);
         if (*buf)
         {
             delete[] buf->get();
diff --git a/test/common/unit_test_tcp_arbitrator_server.cpp b/test/common/unit_test_tcp_arbitrator_server.cpp
index 7295117ce..9502d3747 100644
--- a/test/common/unit_test_tcp_arbitrator_server.cpp
+++ b/test/common/unit_test_tcp_arbitrator_server.cpp
@@ -33,7 +33,7 @@ class MyMessageBufferFactory : public MessageBufferFactory
 
     virtual void dispose(MessageBuffer *buf)
     {
-        assert(buf);
+        erpc_assert(buf);
         if (*buf)
         {
             delete[] buf->get();
diff --git a/test/common/unit_test_tcp_client.cpp b/test/common/unit_test_tcp_client.cpp
index 1d4db5ca5..ad4025c8f 100644
--- a/test/common/unit_test_tcp_client.cpp
+++ b/test/common/unit_test_tcp_client.cpp
@@ -29,7 +29,7 @@ class MyMessageBufferFactory : public MessageBufferFactory
 
     virtual void dispose(MessageBuffer *buf)
     {
-        assert(buf);
+        erpc_assert(buf);
         if (*buf)
         {
             delete[] buf->get();
diff --git a/test/common/unit_test_tcp_server.cpp b/test/common/unit_test_tcp_server.cpp
index e79557cc3..c4180cbee 100644
--- a/test/common/unit_test_tcp_server.cpp
+++ b/test/common/unit_test_tcp_server.cpp
@@ -28,7 +28,7 @@ class MyMessageBufferFactory : public MessageBufferFactory
 
     virtual void dispose(MessageBuffer *buf)
     {
-        assert(buf);
+        erpc_assert(buf);
         if (*buf)
         {
             delete[] buf->get();
diff --git a/test/test_arbitrator/config/erpc_config.h b/test/test_arbitrator/config/erpc_config.h
index abac75886..42bced91c 100644
--- a/test/test_arbitrator/config/erpc_config.h
+++ b/test/test_arbitrator/config/erpc_config.h
@@ -179,6 +179,12 @@
 //! Uncomment for using pre post default callback feature.
 //#define ERPC_PRE_POST_ACTION_DEFAULT (ERPC_PRE_POST_ACTION_DEFAULT_ENABLED)
 
+//! @name Assert function definition
+//@{
+//! User custom asser defition. Include header file if needed before bellow line. If assert is not enabled, default will be used.
+// #define erpc_assert(condition)
+//@}
+
 /*! @} */
 #endif // _ERPC_CONFIG_H_
 ////////////////////////////////////////////////////////////////////////////////