replace modm_asserts with bitfield return

src/modm/driver/motion/adns9800.hpp

@@ -108,7 +108,7 @@ struct adns9800 {
   // Time periods as ticks of Adns9800 running at 50MHz
   using PeriodType = uint16_t;
   using Duration = std::chrono::duration<PeriodType, std::ratio<1, 50_MHz>>;
-  
+
   // forward declarations
   struct Data;
   struct Data_Fails;
@@ -153,10 +153,21 @@ class Adns9800 : public adns9800, public modm::SpiDevice<SpiMaster> {
     /// @endcond
   };
 
+  union VerificationResult {
+    uint8_t value;
+    struct {
+      bool ProductId: 1;
+      bool ProductIdInverse: 1;
+      bool RevisionId: 1;
+    };
+    static constexpr uint8_t Ok = 0b111;
+  };
+
   void
   initialize() {
     powerUp();
-    if(verifyIdentity()) {
+    const VerificationResult result = verifyIdentity();
+    if(result.value == VerificationResult::Ok) {
       writeFirmware();
       laserEnable();
     }
@@ -185,20 +196,13 @@ class Adns9800 : public adns9800, public modm::SpiDevice<SpiMaster> {
   /**
    * @brief     Verify presence of the device by validating various id registers.
    */
-  bool
+  VerificationResult
   verifyIdentity() {
-    bool isValid = true;
-
-    const uint8_t product_id = readRegister(Register::Product_ID);
-    isValid &= modm_assert_continue_fail(product_id == uint8_t(0x33), "adns9800.id", "Unexpected Product Id", product_id);
-
-    const uint8_t inverse_product_id = readRegister(Register::Inverse_Product_ID);
-    isValid &= modm_assert_continue_fail(inverse_product_id == uint8_t(~0x33), "adns9800.iid", "Unexpected Inverse Product Id", inverse_product_id);
-
-    const uint8_t revision_id = readRegister(Register::Revision_ID);
-    isValid &= modm_assert_continue_fail(revision_id == uint8_t(0x03), "adns9800.rid", "Unexpected Revision Id", revision_id);
-
-    return isValid;
+    return VerificationResult{
+      ProductId: readRegister(Register::Product_ID) == uint8_t(0x33),
+      ProductIdInverse: readRegister(Register::Inverse_Product_ID) == uint8_t(~0x33),
+      RevisionId: readRegister(Register::Revision_ID) == uint8_t(0x03)
+    };
   }
 
   void