CAN: Remove asserts used for program logic

This commit fixes the bug where CAN driver program logic was being
called in assert(), thus leading to the logic being omitted in
release builds.

components/driver/can.c

@@ -131,7 +131,8 @@ static inline void can_handle_bus_off(int *alert_req)
 static inline void can_handle_recovery_complete(int *alert_req)
 {
     //Bus recovery complete.
-    assert(can_hal_handle_bus_recov_cplt(&can_context));
+    bool recov_cplt = can_hal_handle_bus_recov_cplt(&can_context);
+    assert(recov_cplt);
 
     //Reset and set flags to the equivalent of the stopped state
     CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_RECOVERING | CTRL_FLAG_ERR_WARN |
@@ -222,7 +223,7 @@ static inline void can_handle_tx_buffer_frame(BaseType_t *task_woken, int *alert
 
     //Update TX message count
     p_can_obj->tx_msg_count--;
-    assert(p_can_obj->tx_msg_count >= 0);     //Sanity check
+    assert(p_can_obj->tx_msg_count >= 0);       //Sanity check
 
     //Check if there are more frames to transmit
     if (p_can_obj->tx_msg_count > 0 && p_can_obj->tx_queue != NULL) {
@@ -382,7 +383,8 @@ esp_err_t can_driver_install(const can_general_config_t *g_config, const can_tim
     }
     periph_module_reset(PERIPH_CAN_MODULE);
     periph_module_enable(PERIPH_CAN_MODULE);            //Enable APB CLK to CAN peripheral
-    assert(can_hal_init(&can_context));
+    bool init = can_hal_init(&can_context);
+    assert(init);
     can_hal_configure(&can_context, t_config, f_config, DRIVER_DEFAULT_INTERRUPTS, g_config->clkout_divider);
     //Todo: Allow interrupt to be registered to specified CPU
     CAN_EXIT_CRITICAL();
@@ -468,7 +470,8 @@ esp_err_t can_start(void)
     //Todo: Add assert to see if in reset mode. //Should already be in bus-off mode, set again to make sure
 
     //Currently in listen only mode, need to set to mode specified by configuration
-    assert(can_hal_start(&can_context, p_can_obj->mode));
+    bool started = can_hal_start(&can_context, p_can_obj->mode);
+    assert(started);
 
     CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_STOPPED);
     CAN_EXIT_CRITICAL();
@@ -482,7 +485,8 @@ esp_err_t can_stop(void)
     CAN_CHECK_FROM_CRIT(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
     CAN_CHECK_FROM_CRIT(!(p_can_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF)), ESP_ERR_INVALID_STATE);
 
-    assert(can_hal_stop(&can_context));
+    bool stopped = can_hal_stop(&can_context);
+    assert(stopped);
 
     CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
     CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_STOPPED);
@@ -631,7 +635,8 @@ esp_err_t can_initiate_recovery(void)
     CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_RECOVERING);
 
     //Trigger start of recovery process
-    assert(can_hal_start_bus_recovery(&can_context));
+    bool started = can_hal_start_bus_recovery(&can_context);
+    assert(started);
     CAN_EXIT_CRITICAL();
 
     return ESP_OK;