diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
index 73fc8b8..824ce61 100644
--- a/Core/Inc/FreeRTOSConfig.h
+++ b/Core/Inc/FreeRTOSConfig.h
@@ -44,6 +44,7 @@
 
 /* USER CODE BEGIN Includes */
 /* Section where include file can be added */
+#include "debug_log.h"
 /* USER CODE END Includes */
 
 /* Ensure definitions are only used by the compiler, and not by the assembler. */
@@ -137,7 +138,7 @@ See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
 /* Normal assert() semantics without relying on the provision of an assert.h
 header file. */
 /* USER CODE BEGIN 1 */
-#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}
+#define configASSERT( x ) do { if ((x) == 0) { debug_log_fault_context("config-assert", __FILE__, __LINE__); taskDISABLE_INTERRUPTS(); for( ;; ) { } } } while (0)
 /* USER CODE END 1 */
 
 /* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
diff --git a/Core/Inc/debug_log.h b/Core/Inc/debug_log.h
index 531affd..b660374 100644
--- a/Core/Inc/debug_log.h
+++ b/Core/Inc/debug_log.h
@@ -17,6 +17,7 @@ void debug_log_printf(const char *fmt, ...);
 void debug_log_boot(const char *tag);
 void debug_log_fault(const char *tag);
 void debug_log_runtime_snapshot(void);
+void debug_log_fault_context(const char *tag, const char *file, int line);
 
 #ifdef __cplusplus
 }
diff --git a/Core/Inc/iwdg.h b/Core/Inc/iwdg.h
index 474e114..dec6d5e 100644
--- a/Core/Inc/iwdg.h
+++ b/Core/Inc/iwdg.h
@@ -38,7 +38,7 @@ extern IWDG_HandleTypeDef hiwdg;
 
 /* USER CODE END Private defines */
 
-void MX_IWDG_Init(void);
+HAL_StatusTypeDef MX_IWDG_Init(void);
 
 /* USER CODE BEGIN Prototypes */
 
diff --git a/Core/Src/debug_log.c b/Core/Src/debug_log.c
index 38a4103..dbcc94e 100644
--- a/Core/Src/debug_log.c
+++ b/Core/Src/debug_log.c
@@ -75,6 +75,19 @@ void debug_log_fault(const char *tag)
     debug_log_printf("[FAULT] %s\r\n", (tag != NULL) ? tag : "(null)");
 }
 
+void debug_log_fault_context(const char *tag, const char *file, int line)
+{
+    debug_log_printf("[FAULT] %s file=%s line=%d free=%lu min=%lu seq=%lu drop=%lu last_drop=%lu\r\n",
+                     (tag != NULL) ? tag : "(null)",
+                     (file != NULL) ? file : "(null)",
+                     line,
+                     (unsigned long)xPortGetFreeHeapSize(),
+                     (unsigned long)xPortGetMinimumEverFreeHeapSize(),
+                     (unsigned long)g_rtt_log_seq,
+                     (unsigned long)g_rtt_log_drop_count,
+                     (unsigned long)g_rtt_log_last_drop_seq);
+}
+
 void debug_log_runtime_snapshot(void)
 {
     UBaseType_t default_hwm;
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index b5d0aa4..c4fa22a 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -89,13 +89,23 @@ static void StartDefaultTask(void *argument)
 {
     TickType_t last_snapshot = xTaskGetTickCount();
     BaseType_t alive_logged = pdFALSE;
+    BaseType_t iwdg_ready = pdFALSE;
 
     (void)argument;
     debug_log_boot("default-task");
 
+    if (MX_IWDG_Init() == HAL_OK) {
+        debug_log_write("[BOOT] iwdg-started\r\n");
+        iwdg_ready = pdTRUE;
+    } else {
+        debug_log_write("[BOOT] iwdg-init-fail\r\n");
+    }
+
     for (;;) {
         HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
-        HAL_IWDG_Refresh(&hiwdg);
+        if (iwdg_ready == pdTRUE) {
+            HAL_IWDG_Refresh(&hiwdg);
+        }
         if (alive_logged == pdFALSE) {
             debug_log_write("[RTOS] alive\r\n");
             alive_logged = pdTRUE;
diff --git a/Core/Src/iwdg.c b/Core/Src/iwdg.c
index 6d08c97..af1a482 100644
--- a/Core/Src/iwdg.c
+++ b/Core/Src/iwdg.c
@@ -27,7 +27,7 @@
 IWDG_HandleTypeDef hiwdg;
 
 /* IWDG init function */
-void MX_IWDG_Init(void)
+HAL_StatusTypeDef MX_IWDG_Init(void)
 {
 
   /* USER CODE BEGIN IWDG_Init 0 */
@@ -42,12 +42,12 @@ void MX_IWDG_Init(void)
   hiwdg.Init.Reload = 4095;
   if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
   {
-    Error_Handler();
+    return HAL_ERROR;
   }
   /* USER CODE BEGIN IWDG_Init 2 */
 
   /* USER CODE END IWDG_Init 2 */
-
+  return HAL_OK;
 }
 
 /* USER CODE BEGIN 1 */
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 09d7da3..30cb793 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -142,7 +142,6 @@ int main(void)
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
   MX_DMA_Init();
-  MX_IWDG_Init();
   MX_USART1_UART_Init();
   MX_USART2_UART_Init();
   MX_USART3_UART_Init();
@@ -231,7 +230,28 @@ void SystemClock_Config(void)
  */
 void Debug_TrapWithRttHint(const char *tag)
 {
-  debug_log_fault(tag);
+  debug_log_fault_context(tag, __FILE__, __LINE__);
+}
+
+void vApplicationMallocFailedHook(void)
+{
+  debug_log_fault_context("malloc-failed", __FILE__, __LINE__);
+  __disable_irq();
+  for (;;)
+  {
+  }
+}
+
+void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName)
+{
+  debug_log_printf("[FAULT] stack-overflow task=%s\r\n",
+                   (pcTaskName != NULL) ? pcTaskName : "(null)");
+  debug_log_fault_context("stack-overflow", __FILE__, __LINE__);
+  (void)xTask;
+  __disable_irq();
+  for (;;)
+  {
+  }
 }
 
 /* USER CODE END 4 */
@@ -244,7 +264,7 @@ void Error_Handler(void)
 {
   /* USER CODE BEGIN Error_Handler_Debug */
   /* User can add his own implementation to report the HAL error return state */
-  debug_log_fault("error-handler");
+  debug_log_fault_context("error-handler", __FILE__, __LINE__);
   __disable_irq();
   while (1)
   {