diff --git a/.project b/.project
new file mode 100644
index 00000000..5ad20221
--- /dev/null
+++ b/.project
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>ZeroPilot-SW-3</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+	</buildSpec>
+	<natures>
+	</natures>
+</projectDescription>
diff --git a/Common/Inc/zp_assert.h b/Common/Inc/zp_assert.h
new file mode 100644
index 00000000..e465c857
--- /dev/null
+++ b/Common/Inc/zp_assert.h
@@ -0,0 +1,29 @@
+#pragma once
+
+#ifndef ZP_ASSERT_H
+#define ZP_ASSERT_H
+
+#include <stdint.h>
+
+typedef struct sAssertInfo {
+    uint64_t pc;
+    uint64_t lr;
+} sAssertInfo;
+
+void store_assert(const uint64_t *pc, const uint64_t *lr);
+
+#define GET_LR() __builtin_return_address(0)
+//#define GET_PC(_a) __asm volatile ("mov %0, pc" : "=r" (_a)) // Comment out this for ARM
+#define GET_PC(_a) __asm volatile("1: lea 1b(%%rip), %0;": "=a"(pc));  // Comment this for x86
+
+#define MY_ASSERT_RECORD()       \
+    do {                         \
+      void *pc = NULL;           \
+      GET_PC(pc);            	 \
+      const void *lr = GET_LR(); \
+      store_assert(pc, lr);         \
+    } while (0)
+
+void zp_assert(bool expr);
+
+#endif
diff --git a/Common/Src/zp_assert.c b/Common/Src/zp_assert.c
new file mode 100644
index 00000000..235724b9
--- /dev/null
+++ b/Common/Src/zp_assert.c
@@ -0,0 +1,17 @@
+#include "zp_assert.h"
+
+static sAssertInfo g_assert_info;
+
+void store_assert(const uint64_t *pc, const uint64_t *lr) {
+    g_assert_info.pc = pc;
+    g_assert_info.lr = lr;
+}
+
+void zp_assert(bool expr) {
+    if (!expr) {
+//#warning This should call the los hardfault handler, or something more appropriate
+        while (1) {
+        	MY_ASSERT_RECORD();
+        }
+    }
+}