diff --git a/tools/esp32/btdecode.sh b/tools/esp32/btdecode.sh
new file mode 100755
index 00000000000..2bc96707299
--- /dev/null
+++ b/tools/esp32/btdecode.sh
@@ -0,0 +1,69 @@
+#!/usr/bin/env bash
+############################################################################
+# tools/esp32/btdecode.sh
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+# This script can be used to decode the backtrace that's dumped on assertions.
+#
+# On assertions we can find the raw backtrace dump similar to:
+# ...
+# xtensa_btdump: Backtrace0: 400d3ed7:3ffb1300
+# xtensa_btdump: Backtrace1: 400d3f33:3ffb1320
+# xtensa_btdump: Backtrace2: 400d2875:3ffb1340
+# xtensa_btdump: BACKTRACE CONTINUES...
+# ...
+#
+# Copy that to a file and call this script as:
+#    ./tools/esp32/btdecode.sh backtrace_file
+#
+# The result should be similar to the following:
+#    0x400d3ed7: xtensa_assert at xtensa_assert.c:108
+#    0x400d3f33: up_assert at xtensa_assert.c:184 (discriminator 2)
+#    0x400d2875: _assert at lib_assert.c:36
+
+USAGE="USAGE: ${0} backtrace_file"
+
+# Make sure we have the required argument(s)
+
+if [ -z "$1" ]; then
+  echo "No backtrace supplied!"
+  echo "$USAGE"
+  exit 1
+fi
+
+# Make sure the project was built
+
+if [ ! -f nuttx ]; then
+  echo "NuttX binaries not found!"
+  exit 2
+fi
+
+# Check that the toolchain is in the PATH
+
+if [ ! -x "$(command -v xtensa-esp32-elf-addr2line)" ]; then
+  echo "ESP32 toolchain not found!"
+  exit 3
+fi
+
+# Decode backtrace
+
+for bt in `cat $1 | cut -d':' -f3`; do
+  xtensa-esp32-elf-addr2line -pfiaCs -e nuttx $bt
+done
+