Friendly Register Assignments

[KevinMechler]

Hi again. I can't help but notice that the way you assign values to registers is not friendly or... safe?

void icm20948_clock_source(uint8_t source)
{
	uint8_t new_val = read_single_icm20948_reg(ub_0, B0_PWR_MGMT_1);
	new_val |= source;

	write_single_icm20948_reg(ub_0, B0_PWR_MGMT_1, new_val);
}

In this snippet, you |= two values, but if I used a number like 0x41 instead of 0x01 here, I could theoretically put the chip into sleep instead of correctly setting the clock source.

Now, in the event that I wanted to set the clock source as 0x07, which I think is valid, and then later change it back to 0x01, I could not with your code.

Consider redoing your assignments to something that clears the bits for the field in the register before OR-ing them.

new_val = (new_val & 0xF8) | (source & 0x07);

would be a much safer way of preventing accidental changes to registers/configs, I think. Nearly every register config function should probably be updated like this.