diff --git a/arch/arm/src/lpc43xx/lpc43_allocateheap.c b/arch/arm/src/lpc43xx/lpc43_allocateheap.c
index d9f12e7bed..0d28651ac2 100644
--- a/arch/arm/src/lpc43xx/lpc43_allocateheap.c
+++ b/arch/arm/src/lpc43xx/lpc43_allocateheap.c
@@ -491,10 +491,10 @@ void up_allocate_kheap(FAR void **heap_start, size_t *heap_size)
   size_t    usize = CONFIG_RAM_END - ubase;
   int       log2;
 
-  DEBUGASSERT(ubase < (uintptr_t)SRAM1_END);
+  DEBUGASSERT(ubase < (uintptr_t)CONFIG_RAM_END);
 
   /* Adjust that size to account for MPU alignment requirements.
-   * NOTE that there is an implicit assumption that the SRAM1_END
+   * NOTE that there is an implicit assumption that the CONFIG_RAM_END
    * is aligned to the MPU requirement.
    */
 
diff --git a/arch/arm/src/sama5/sam_ohci.c b/arch/arm/src/sama5/sam_ohci.c
index a04cfd3b54..f4e849d1e0 100644
--- a/arch/arm/src/sama5/sam_ohci.c
+++ b/arch/arm/src/sama5/sam_ohci.c
@@ -2897,9 +2897,7 @@ errout:
 
 static int sam_epfree(struct usbhost_driver_s *drvr, usbhost_ep_t ep)
 {
-#ifdef CONFIG_DEBUG_ASSERTIONS
   struct sam_rhport_s *rhport = (struct sam_rhport_s *)drvr;
-#endif
   struct sam_eplist_s *eplist = (struct sam_eplist_s *)ep;
   struct sam_ed_s *ed;
   int ret;
diff --git a/arch/arm/src/sama5/sam_ssc.c b/arch/arm/src/sama5/sam_ssc.c
index 4cb9dc87b4..1d1228db19 100644
--- a/arch/arm/src/sama5/sam_ssc.c
+++ b/arch/arm/src/sama5/sam_ssc.c
@@ -445,9 +445,7 @@ struct sam_ssc_s
   uintptr_t base;              /* SSC controller register base address */
   sem_t exclsem;               /* Assures mutually exclusive access to SSC */
   uint8_t datalen;             /* Data width (8, 16, or 32) */
-#ifdef CONFIG_DEBUG_FEATURES
   uint8_t align;               /* Log2 of data width (0, 1, or 3) */
-#endif
   uint8_t pid;                 /* Peripheral ID */
   uint8_t rxfslen;             /* RX frame sync length */
   uint8_t txfslen;             /* TX frame sync length */
@@ -2021,21 +2019,15 @@ static int ssc_checkwidth(struct sam_ssc_s *priv, int bits)
   switch (bits)
     {
     case 8:
-#ifdef CONFIG_DEBUG_FEATURES
       priv->align = 0;
-#endif
       break;
 
     case 16:
-#ifdef CONFIG_DEBUG_FEATURES
       priv->align = 1;
-#endif
       break;
 
     case 32:
-#ifdef CONFIG_DEBUG_FEATURES
       priv->align = 3;
-#endif
       break;
 
     default:
@@ -3216,9 +3208,7 @@ static void ssc0_configure(struct sam_ssc_s *priv)
 
   priv->base    = SAM_SSC0_VBASE;
   priv->datalen = CONFIG_SAMA5_SSC0_DATALEN;
-#ifdef CONFIG_DEBUG_FEATURES
   priv->align   = SAMA5_SSC0_DATAMASK;
-#endif
   priv->pid     = SAM_PID_SSC0;
 }
 #endif
@@ -3357,9 +3347,7 @@ static void ssc1_configure(struct sam_ssc_s *priv)
 
   priv->base    = SAM_SSC1_VBASE;
   priv->datalen = CONFIG_SAMA5_SSC1_DATALEN;
-#ifdef CONFIG_DEBUG_FEATURES
   priv->align   = SAMA5_SSC1_DATAMASK;
-#endif
   priv->pid     = SAM_PID_SSC1;
 }
 #endif
diff --git a/arch/arm/src/sama5/sam_xdmac.c b/arch/arm/src/sama5/sam_xdmac.c
index cc83f573d9..63039b7a9e 100644
--- a/arch/arm/src/sama5/sam_xdmac.c
+++ b/arch/arm/src/sama5/sam_xdmac.c
@@ -1623,9 +1623,7 @@ static inline int sam_single(struct sam_xdmach_s *xdmach)
 static inline int sam_multiple(struct sam_xdmach_s *xdmach)
 {
   struct sam_xdmac_s *xdmac = sam_controller(xdmach);
-#ifdef CONFIG_DEBUG_ASSERTIONS
   struct chnext_view1_s *llhead = xdmach->llhead;
-#endif
   uintptr_t paddr;
   uint32_t regval;
 
@@ -1666,7 +1664,7 @@ static inline int sam_multiple(struct sam_xdmach_s *xdmach)
    * REVIST:  Using NDAIF=0.  Is that correct?
    */
 
-  paddr = sam_physramaddr((uintptr_t)xdmach->llhead);
+  paddr = sam_physramaddr((uintptr_t)llhead);
   sam_putdmach(xdmach, (uint32_t)paddr, SAM_XDMACH_CNDA_OFFSET);
 
   /* 5. Program the CNDC register:
diff --git a/arch/arm/src/samv7/sam_ssc.c b/arch/arm/src/samv7/sam_ssc.c
index 19874bd480..f18dff366b 100644
--- a/arch/arm/src/samv7/sam_ssc.c
+++ b/arch/arm/src/samv7/sam_ssc.c
@@ -419,9 +419,7 @@ struct sam_ssc_s
   uintptr_t base;              /* SSC controller register base address */
   sem_t exclsem;               /* Assures mutually exclusive access to SSC */
   uint8_t datalen;             /* Data width (8, 16, or 32) */
-#ifdef CONFIG_DEBUG_FEATURES
   uint8_t align;               /* Log2 of data width (0, 1, or 3) */
-#endif
   uint8_t pid;                 /* Peripheral ID */
   uint8_t rxfslen;             /* RX frame sync length */
   uint8_t txfslen;             /* TX frame sync length */
@@ -2001,21 +1999,15 @@ static int ssc_checkwidth(struct sam_ssc_s *priv, int bits)
   switch (bits)
     {
     case 8:
-#ifdef CONFIG_DEBUG_FEATURES
       priv->align = 0;
-#endif
       break;
 
     case 16:
-#ifdef CONFIG_DEBUG_FEATURES
       priv->align = 1;
-#endif
       break;
 
     case 32:
-#ifdef CONFIG_DEBUG_FEATURES
       priv->align = 3;
-#endif
       break;
 
     default:
@@ -3198,9 +3190,7 @@ static void ssc0_configure(struct sam_ssc_s *priv)
 
   priv->base    = SAM_SSC0_BASE;
   priv->datalen = CONFIG_SAMV7_SSC0_DATALEN;
-#ifdef CONFIG_DEBUG_FEATURES
   priv->align   = SAMV7_SSC0_DATAMASK;
-#endif
   priv->pid     = SAM_PID_SSC0;
 }
 #endif
@@ -3339,9 +3329,7 @@ static void ssc1_configure(struct sam_ssc_s *priv)
 
   priv->base    = SAM_SSC1_BASE;
   priv->datalen = CONFIG_SAMV7_SSC1_DATALEN;
-#ifdef CONFIG_DEBUG_FEATURES
   priv->align   = SAMV7_SSC1_DATAMASK;
-#endif
   priv->pid     = SAM_PID_SSC1;
 }
 #endif
diff --git a/arch/arm/src/samv7/sam_xdmac.c b/arch/arm/src/samv7/sam_xdmac.c
index 90dc744cfc..0cafcbbcdf 100644
--- a/arch/arm/src/samv7/sam_xdmac.c
+++ b/arch/arm/src/samv7/sam_xdmac.c
@@ -1317,9 +1317,7 @@ static inline int sam_single(struct sam_xdmach_s *xdmach)
 static inline int sam_multiple(struct sam_xdmach_s *xdmach)
 {
   struct sam_xdmac_s *xdmac = sam_controller(xdmach);
-#ifdef CONFIG_DEBUG_ASSERTIONS
   struct chnext_view1_s *llhead = xdmach->llhead;
-#endif
   uintptr_t paddr;
   uint32_t regval;
 
@@ -1360,7 +1358,7 @@ static inline int sam_multiple(struct sam_xdmach_s *xdmach)
    * REVIST:  Using NDAIF=0.  Is that correct?
    */
 
-  paddr = sam_physramaddr((uintptr_t)xdmach->llhead);
+  paddr = sam_physramaddr((uintptr_t)llhead);
   sam_putdmach(xdmach, (uint32_t)paddr, SAM_XDMACH_CNDA_OFFSET);
 
   /* 5. Program the CNDC register:
diff --git a/arch/arm/src/stm32/stm32_i2s.c b/arch/arm/src/stm32/stm32_i2s.c
index 28cdc9cda2..5995faef06 100644
--- a/arch/arm/src/stm32/stm32_i2s.c
+++ b/arch/arm/src/stm32/stm32_i2s.c
@@ -296,9 +296,7 @@ struct stm32_i2s_s
   sem_t             exclsem;      /* Assures mutually exclusive access to I2S */
   bool              initialized;  /* Has I2S interface been initialized */
   uint8_t           datalen;      /* Data width (8 or 16) */
-#ifdef CONFIG_DEBUG_FEATURES
   uint8_t           align;        /* Log2 of data width (0 or 1) */
-#endif
   uint8_t           rxenab:1;     /* True: RX transfers enabled */
   uint8_t           txenab:1;     /* True: TX transfers enabled */
   uint8_t           i2sno:6;      /* I2S controller number (0 or 1) */
@@ -1750,15 +1748,11 @@ static int i2s_checkwidth(struct stm32_i2s_s *priv, int bits)
   switch (bits)
     {
     case 8:
-#ifdef CONFIG_DEBUG
       priv->align = 0;
-#endif
       break;
 
     case 16:
-#ifdef CONFIG_DEBUG
       priv->align = 1;
-#endif
       break;
 
     default:
diff --git a/arch/sim/src/sim/up_oneshot.c b/arch/sim/src/sim/up_oneshot.c
index 61cf81be7e..fa0610fd00 100644
--- a/arch/sim/src/sim/up_oneshot.c
+++ b/arch/sim/src/sim/up_oneshot.c
@@ -195,7 +195,7 @@ static void sim_process_tick(sq_entry_t *entry)
 static int sim_max_delay(FAR struct oneshot_lowerhalf_s *lower,
                          FAR struct timespec *ts)
 {
-  DEBUGASSERT(lower != NULL && ts != NULL);
+  DEBUGASSERT(ts != NULL);
 
   ts->tv_sec  = UINT_MAX;
   ts->tv_nsec = NSEC_PER_SEC - 1;
@@ -301,12 +301,7 @@ static int sim_cancel(FAR struct oneshot_lowerhalf_s *lower,
 static int sim_current(FAR struct oneshot_lowerhalf_s *lower,
                        FAR struct timespec *ts)
 {
-#ifdef CONFIG_DEBUG_ASSERTIONS
-  FAR struct sim_oneshot_lowerhalf_s *priv =
-    (FAR struct sim_oneshot_lowerhalf_s *)lower;
-#endif
-
-  DEBUGASSERT(priv != NULL && ts != NULL);
+  DEBUGASSERT(ts != NULL);
 
   *ts = g_current;
   return OK;
diff --git a/boards/risc-v/bl602/bl602evb/src/bl602_gpio.c b/boards/risc-v/bl602/bl602evb/src/bl602_gpio.c
index 1338ad9883..be0aa35228 100644
--- a/boards/risc-v/bl602/bl602evb/src/bl602_gpio.c
+++ b/boards/risc-v/bl602/bl602evb/src/bl602_gpio.c
@@ -465,7 +465,7 @@ static int gpint_read(FAR struct gpio_dev_s *dev, FAR bool *value)
     (FAR struct bl602_gpint_dev_s *)dev;
 
   DEBUGASSERT(bl602xgpint != NULL && value != NULL);
-  DEBUGASSERT(bl602xgpint->bl602xgpio.id < BOARD_NGPIOINT);
+  DEBUGASSERT(bl602xgpint->bl602gpio.id < BOARD_NGPIOINT);
   gpioinfo("Reading int pin...\n");
 
   *value = bl602_gpioread(g_gpiointinputs[bl602xgpint->bl602gpio.id]);
diff --git a/drivers/note/noteram_driver.c b/drivers/note/noteram_driver.c
index 474862cfc9..f8efa10993 100644
--- a/drivers/note/noteram_driver.c
+++ b/drivers/note/noteram_driver.c
@@ -353,7 +353,6 @@ static inline unsigned int noteram_next(unsigned int ndx,
  *
  ****************************************************************************/
 
-#ifdef CONFIG_DEBUG_ASSERTIONS
 static unsigned int noteram_length(void)
 {
   unsigned int head = g_noteram_info.ni_head;
@@ -366,7 +365,6 @@ static unsigned int noteram_length(void)
 
   return head - tail;
 }
-#endif
 
 /****************************************************************************
  * Name: noteram_unread_length
diff --git a/drivers/sensors/apds9960.c b/drivers/sensors/apds9960.c
index 3a127f16e9..a6ec443877 100644
--- a/drivers/sensors/apds9960.c
+++ b/drivers/sensors/apds9960.c
@@ -1228,10 +1228,6 @@ int apds9960_register(FAR const char *devpath,
 {
   int ret;
 
-  /* Sanity check */
-
-  DEBUGASSERT(i2c != NULL);
-
   /* Initialize the APDS9960 device structure */
 
   FAR struct apds9960_dev_s *priv =
diff --git a/drivers/wireless/ieee802154/xbee/xbee_mac.c b/drivers/wireless/ieee802154/xbee/xbee_mac.c
index e568619b70..8ec76f52ce 100644
--- a/drivers/wireless/ieee802154/xbee/xbee_mac.c
+++ b/drivers/wireless/ieee802154/xbee/xbee_mac.c
@@ -308,9 +308,7 @@ int xbee_req_data(XBEEHANDLE xbee,
   int index;
   uint16_t apiframelen;
   uint8_t frametype;
-#ifdef CONFIG_DEBUG_ASSERTIONS
   int prevoffs = frame->io_offset;
-#endif
 #ifdef CONFIG_XBEE_LOCKUP_WORKAROUND
   int retries = XBEE_LOCKUP_SENDATTEMPTS;
 #endif
diff --git a/drivers/wireless/ieee802154/xbee/xbee_netdev.c b/drivers/wireless/ieee802154/xbee/xbee_netdev.c
index acd9c8bede..ecaa201fe2 100644
--- a/drivers/wireless/ieee802154/xbee/xbee_netdev.c
+++ b/drivers/wireless/ieee802154/xbee/xbee_netdev.c
@@ -1381,8 +1381,6 @@ int xbee_netdev_register(XBEEHANDLE xbee)
 
   nxsem_init(&priv->xd_exclsem, 0, 1);
 
-  DEBUGASSERT(priv->xd_txpoll != NULL);
-
   /* Set the network mask. */
 
   xbeenet_netmask(dev);
diff --git a/include/assert.h b/include/assert.h
index 8d96e874b4..2579f306a7 100644
--- a/include/assert.h
+++ b/include/assert.h
@@ -75,7 +75,7 @@
 #  define DEBUGVERIFY(f) VERIFY(f)
 #else
 #  define DEBUGPANIC()
-#  define DEBUGASSERT(f)
+#  define DEBUGASSERT(f) UNUSED(f)
 #  define DEBUGVERIFY(f) ((void)(f))
 #endif
 
@@ -85,7 +85,7 @@
  */
 
 #ifdef NDEBUG
-#  define assert(f)
+#  define assert(f) UNUSED(f)
 #else
 #  define assert(f) ASSERT(f)
 #endif
diff --git a/mm/mm_heap/mm_mallinfo.c b/mm/mm_heap/mm_mallinfo.c
index fa50366745..e58d49484b 100644
--- a/mm/mm_heap/mm_mallinfo.c
+++ b/mm/mm_heap/mm_mallinfo.c
@@ -48,9 +48,7 @@ int mm_mallinfo(FAR struct mm_heap_s *heap, FAR struct mallinfo *info)
 {
   FAR struct mm_heap_impl_s *heap_impl;
   FAR struct mm_allocnode_s *node;
-#ifdef CONFIG_DEBUG_ASSERTIONS
   FAR struct mm_allocnode_s *prev;
-#endif
   size_t mxordblk = 0;
   int    ordblks  = 0;  /* Number of non-inuse chunks */
   size_t uordblks = 0;  /* Total allocated space */
@@ -71,9 +69,8 @@ int mm_mallinfo(FAR struct mm_heap_s *heap, FAR struct mallinfo *info)
   for (region = 0; region < heap_impl->mm_nregions; region++)
 #endif
     {
-#ifdef CONFIG_DEBUG_ASSERTIONS
       prev = NULL;
-#endif
+
       /* Visit each node in the region
        * Retake the semaphore for each region to reduce latencies
        */
@@ -99,9 +96,8 @@ int mm_mallinfo(FAR struct mm_heap_s *heap, FAR struct mallinfo *info)
             }
           else
             {
-#ifdef CONFIG_DEBUG_ASSERTIONS
               FAR struct mm_freenode_s *fnode = (FAR void *)node;
-#endif
+
               DEBUGASSERT(node->size >= SIZEOF_MM_FREENODE);
               DEBUGASSERT(fnode->blink->flink == fnode);
               DEBUGASSERT(fnode->blink->size <= fnode->size);
@@ -120,9 +116,7 @@ int mm_mallinfo(FAR struct mm_heap_s *heap, FAR struct mallinfo *info)
 
           DEBUGASSERT(prev == NULL ||
                       prev->size == (node->preceding & ~MM_ALLOC_BIT));
-#ifdef CONFIG_DEBUG_ASSERTIONS
           prev = node;
-#endif
         }
 
       minfo("region=%d node=%p heapend=%p\n",
diff --git a/net/bluetooth/bluetooth_input.c b/net/bluetooth/bluetooth_input.c
index e0fb86ffe4..23e1a568fb 100644
--- a/net/bluetooth/bluetooth_input.c
+++ b/net/bluetooth/bluetooth_input.c
@@ -60,7 +60,7 @@
  *
  ****************************************************************************/
 
-#if defined(CONFIG_DEBUG_ASSERTIONS) && CONFIG_NET_BLUETOOTH_BACKLOG > 0
+#if CONFIG_NET_BLUETOOTH_BACKLOG > 0
 static int bluetooth_count_frames(FAR struct bluetooth_conn_s *conn)
 {
   FAR struct bluetooth_container_s *container;
diff --git a/net/bluetooth/bluetooth_recvmsg.c b/net/bluetooth/bluetooth_recvmsg.c
index 8a59ee4260..bfcb46f031 100644
--- a/net/bluetooth/bluetooth_recvmsg.c
+++ b/net/bluetooth/bluetooth_recvmsg.c
@@ -82,7 +82,7 @@ struct bluetooth_recvfrom_s
  *
  ****************************************************************************/
 
-#if defined(CONFIG_DEBUG_ASSERTIONS) && CONFIG_NET_BLUETOOTH_BACKLOG > 0
+#if CONFIG_NET_BLUETOOTH_BACKLOG > 0
 static int bluetooth_count_frames(FAR struct bluetooth_conn_s *conn)
 {
   FAR struct bluetooth_container_s *container;
diff --git a/net/ieee802154/ieee802154_input.c b/net/ieee802154/ieee802154_input.c
index f30652af86..40689fef71 100644
--- a/net/ieee802154/ieee802154_input.c
+++ b/net/ieee802154/ieee802154_input.c
@@ -56,7 +56,7 @@
  *
  ****************************************************************************/
 
-#if defined(CONFIG_DEBUG_ASSERTIONS) && CONFIG_NET_IEEE802154_BACKLOG > 0
+#if CONFIG_NET_IEEE802154_BACKLOG > 0
 static int ieee802154_count_frames(FAR struct ieee802154_conn_s *conn)
 {
   FAR struct ieee802154_container_s *container;
diff --git a/net/ieee802154/ieee802154_recvmsg.c b/net/ieee802154/ieee802154_recvmsg.c
index ac48bbfbd8..8f39fd4654 100644
--- a/net/ieee802154/ieee802154_recvmsg.c
+++ b/net/ieee802154/ieee802154_recvmsg.c
@@ -80,7 +80,7 @@ struct ieee802154_recvfrom_s
  *
  ****************************************************************************/
 
-#if defined(CONFIG_DEBUG_ASSERTIONS) && CONFIG_NET_IEEE802154_BACKLOG > 0
+#if CONFIG_NET_IEEE802154_BACKLOG > 0
 static int ieee802154_count_frames(FAR struct ieee802154_conn_s *conn)
 {
   FAR struct ieee802154_container_s *container;
diff --git a/wireless/ieee802154/mac802154_netdev.c b/wireless/ieee802154/mac802154_netdev.c
index c6d3617361..086d07b877 100644
--- a/wireless/ieee802154/mac802154_netdev.c
+++ b/wireless/ieee802154/mac802154_netdev.c
@@ -1361,8 +1361,6 @@ int mac802154netdev_register(MACHANDLE mac)
 
   nxsem_init(&priv->md_exclsem, 0, 1);
 
-  DEBUGASSERT(priv->md_txpoll != NULL);
-
   /* Set the network mask. */
 
   macnet_netmask(dev);