diff --git a/tinyusb/class/msc/msc_device.c b/tinyusb/class/msc/msc_device.c
index 6f0e6b69..cbee1312 100644
--- a/tinyusb/class/msc/msc_device.c
+++ b/tinyusb/class/msc/msc_device.c
@@ -251,7 +251,7 @@ tusb_error_t mscd_xfer_cb(uint8_t rhport, uint8_t ep_addr, tusb_event_t event, u
       }else
       {
         // unlikely error
-        tusb_hal_dbg_breakpoint();
+        verify_breakpoint();
       }
     break;
 
diff --git a/tinyusb/common/assertion.h b/tinyusb/common/assertion.h
index 31ae04d3..c16e7d1a 100644
--- a/tinyusb/common/assertion.h
+++ b/tinyusb/common/assertion.h
@@ -54,8 +54,6 @@ extern "C"
 #include "tusb_option.h"
 #include "tusb_compiler.h"
 
-#include "tusb_hal.h" // TODO find a way to break hal dependency
-
 #define VOID_RETURN
 
 //#if ( defined CFG_PRINTF_UART || defined CFG_PRINTF_USBCDC || defined CFG_PRINTF_DEBUG )
@@ -74,7 +72,7 @@ extern "C"
   do{\
     setup_statement;\
 	  if (!(condition)) {\
-	    tusb_hal_dbg_breakpoint();\
+	    verify_breakpoint();\
 	    _ASSERT_MESSAGE(format, __VA_ARGS__);\
 	    return error; /* Throw X for Test */\
 	  }\
diff --git a/tinyusb/common/verify.h b/tinyusb/common/verify.h
index 9fe52ad8..07ff7179 100644
--- a/tinyusb/common/verify.h
+++ b/tinyusb/common/verify.h
@@ -63,6 +63,24 @@
   #define _ASSERT_MESS()
 #endif
 
+// Halt CPU (breakpoint) when hitting error, only apply for Cortex M3, M4, M7
+#if defined(__ARM_ARCH_7M__) || defined (__ARM_ARCH_7EM__)
+
+// Cortex M CoreDebug->DHCSR
+#define ARM_CM_DHCSR    (*((volatile uint32_t*) 0xE000EDF0UL))
+
+static inline void verify_breakpoint(void)
+{
+  // Only halt mcu if debugger is attached
+  if ( ARM_CM_DHCSR & 1UL ) __asm("BKPT #0\n");
+}
+
+#else
+
+#define verify_breakpoint()
+
+#endif
+
 /*------------------------------------------------------------------*/
 /* VERIFY STATUS
  * - VERIFY_STS_1ARGS : return status of condition if failed
@@ -95,13 +113,13 @@
 #define VERIFY_STS_HDLR_2ARGS(sts, _handler)          \
     do {                                              \
       uint32_t _status = (uint32_t)(sts);             \
-      if ( 0 != _status ) { tusb_hal_dbg_breakpoint(); _VERIFY_MESS(_status) _handler; return _status; }\
+      if ( 0 != _status ) { verify_breakpoint(); _VERIFY_MESS(_status) _handler; return _status; }\
     } while(0)
 
 #define VERIFY_STS_HDLR_3ARGS(sts, _handler, _error)  \
     do {                                              \
       uint32_t _status = (uint32_t)(sts);             \
-      if ( 0 != _status ) { tusb_hal_dbg_breakpoint(); _VERIFY_MESS(_status) _handler; return _error; }\
+      if ( 0 != _status ) { verify_breakpoint(); _VERIFY_MESS(_status) _handler; return _error; }\
     } while(0)
 
 #define VERIFY_STATUS_HDLR(...)  GET_4TH_ARG(__VA_ARGS__, VERIFY_STS_HDLR_3ARGS, VERIFY_STS_HDLR_2ARGS)(__VA_ARGS__)
@@ -137,12 +155,12 @@
 
 /*------------------------------------------------------------------*/
 /* ASSERT
- * basically VERIFY with tusb_hal_dbg_breakpoint as handler
+ * basically VERIFY with verify_breakpoint as handler
  * - 1 arg : return false if failed
  * - 2 arg : return error if failed
  *------------------------------------------------------------------*/
-#define ASSERT_1ARGS(cond)            do { if (!(cond)) { tusb_hal_dbg_breakpoint(); _ASSERT_MESS() return false; } } while(0)
-#define ASSERT_2ARGS(cond, _error)    do { if (!(cond)) { tusb_hal_dbg_breakpoint(); _ASSERT_MESS() return _error;} } while(0)
+#define ASSERT_1ARGS(cond)            do { if (!(cond)) { verify_breakpoint(); _ASSERT_MESS() return false; } } while(0)
+#define ASSERT_2ARGS(cond, _error)    do { if (!(cond)) { verify_breakpoint(); _ASSERT_MESS() return _error;} } while(0)
 
 #define TU_ASSERT(...)  GET_3RD_ARG(__VA_ARGS__, ASSERT_2ARGS, ASSERT_1ARGS)(__VA_ARGS__)
 
diff --git a/tinyusb/host/ehci/ehci.c b/tinyusb/host/ehci/ehci.c
index 80c2a85a..3fc629fd 100644
--- a/tinyusb/host/ehci/ehci.c
+++ b/tinyusb/host/ehci/ehci.c
@@ -647,7 +647,7 @@ static void qhd_xfer_error_isr(ehci_qhd_t * p_qhd)
     p_qhd->total_xferred_bytes += p_qhd->p_qtd_list_head->expected_bytes - p_qhd->p_qtd_list_head->total_bytes;
 
 
-//    if ( TUSB_EVENT_XFER_ERROR == error_event )    tusb_hal_dbg_breakpoint(); // TODO skip unplugged device
+//    if ( TUSB_EVENT_XFER_ERROR == error_event )    verify_breakpoint(); // TODO skip unplugged device
 
     p_qhd->p_qtd_list_head->used = 0; // free QTD
     qtd_remove_1st_from_qhd(p_qhd);
diff --git a/tinyusb/portable/nordic/nrf5x/hal_nrf5x.c b/tinyusb/portable/nordic/nrf5x/hal_nrf5x.c
index 145f1bf5..073f4ac3 100644
--- a/tinyusb/portable/nordic/nrf5x/hal_nrf5x.c
+++ b/tinyusb/portable/nordic/nrf5x/hal_nrf5x.c
@@ -89,16 +89,4 @@ uint32_t tusb_hal_tick_get(void)
   return system_ticks;
 }
 
-void tusb_hal_dbg_breakpoint(void)
-{
-  // M0 cannot check if debugger is attached or not
-#if defined(__CORTEX_M) && (__CORTEX_M > 0)
-  // check if debugger is attached
-  if ( (CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) == CoreDebug_DHCSR_C_DEBUGEN_Msk)
-  {
-    __asm("BKPT #0\n");
-  }
-#endif
-}
-
 #endif
diff --git a/tinyusb/portable/nxp/lpc43xx_lpc18xx/hal_lpc43xx.c b/tinyusb/portable/nxp/lpc43xx_lpc18xx/hal_lpc43xx.c
index 451ed72a..ff7d32a3 100644
--- a/tinyusb/portable/nxp/lpc43xx_lpc18xx/hal_lpc43xx.c
+++ b/tinyusb/portable/nxp/lpc43xx_lpc18xx/hal_lpc43xx.c
@@ -69,18 +69,6 @@ uint32_t tusb_hal_tick_get(void)
 
 #endif
 
-void tusb_hal_dbg_breakpoint(void)
-{
-  // M0 cannot check if debugger is attached or not
-#if defined(__CORTEX_M) && (__CORTEX_M > 0)
-  // check if debugger is attached
-  if ( (CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) == CoreDebug_DHCSR_C_DEBUGEN_Msk)
-  {
-    __asm("BKPT #0\n");
-  }
-#endif
-}
-
 void tusb_hal_int_enable(uint8_t rhport)
 {
   NVIC_EnableIRQ(rhport ? USB1_IRQn : USB0_IRQn);
diff --git a/tinyusb/tusb_hal.h b/tinyusb/tusb_hal.h
index e89495fc..98ec79f9 100644
--- a/tinyusb/tusb_hal.h
+++ b/tinyusb/tusb_hal.h
@@ -77,9 +77,6 @@ void tusb_hal_int_disable(uint8_t rhport);
 
 uint32_t tusb_hal_tick_get(void);
 
-// for debug only, halt mcu if assert/verify is failed if debugger is attached
-void tusb_hal_dbg_breakpoint(void) ATTR_WEAK;
-
 #ifdef __cplusplus
  }
 #endif