lsm6dsox: Combine _set_bits and _clear_bits functions.

Signed-off-by: Sebastian Romero <s.romero@arduino.cc>

Author: sebromero

micropython/drivers/imu/lsm6dsox/lsm6dsox.py

@@ -204,11 +204,8 @@ def _write_reg(self, reg, val):
             finally:
                 self.cs(1)
 
-    def _set_bits(self, reg, mask):
-        self._write_reg(reg, self._read_reg(reg) | mask)
-
-    def _clear_bits(self, reg, mask):
-        self._write_reg(reg, self._read_reg(reg) & ~mask)
+    def _modify_bits(self, reg, clr_mask=0, set_mask=0):
+        self._write_reg(reg, (self._read_reg(reg) & ~clr_mask) | set_mask)
 
     def _read_reg_into(self, reg, buf):
         if self._use_i2c:
@@ -233,7 +230,7 @@ def _select_page(self, address, value=None):
 
         rw_bit = 0x20 if value is None else 0x40
         # Clear both read and write bits first, then set read (bit 5) or write (bit 6).
-        self._write_reg(_PAGE_RW, (self._read_reg(_PAGE_RW) & 0x9F) | rw_bit)
+        self._modify_bits(_PAGE_RW, clr_mask=0x60, set_mask=rw_bit)
 
         # select page
         self._write_reg(_PAGE_SEL, (msb << 4) | 0x01)
@@ -251,22 +248,21 @@ def _select_page(self, address, value=None):
 
         # unset page write/read and page_sel
         self._write_reg(_PAGE_SEL, 0x01)
-        self._clear_bits(_PAGE_RW, rw_bit)
+        self._modify_bits(_PAGE_RW, clr_mask=rw_bit)
 
         self.set_mem_bank(_FUNC_CFG_BANK_USER)
         return val
 
     def reset(self):
-        self._write_reg(_CTRL3_C, self._read_reg(_CTRL3_C) | 0x1)
+        self._modify_bits(_CTRL3_C, set_mask=0x1)
         for i in range(10):
             if (self._read_reg(_CTRL3_C) & 0x01) == 0:
                 return
             time.sleep_ms(10)
         raise OSError("Failed to reset LSM6DS device.")
 
     def set_mem_bank(self, bank):
-        cfg = self._read_reg(_FUNC_CFG_ACCESS) & 0x3F
-        self._write_reg(_FUNC_CFG_ACCESS, cfg | (bank << 6))
+        self._modify_bits(_FUNC_CFG_ACCESS, clr_mask=0xC0, set_mask=(bank << 6))
 
     def set_embedded_functions(self, enable, emb_ab=None):
         self.set_mem_bank(_FUNC_CFG_BANK_EMBED)
@@ -294,18 +290,18 @@ def load_mlc(self, ucf):
         emb_ab = self.set_embedded_functions(False)
 
         # Disable I3C interface
-        self._write_reg(_CTRL9_XL, self._read_reg(_CTRL9_XL) | 0x01)
+        self._modify_bits(_CTRL9_XL, set_mask=0x01)
 
         # Enable Block Data Update
-        self._write_reg(_CTRL3_C, self._read_reg(_CTRL3_C) | 0x40)
+        self._modify_bits(_CTRL3_C, set_mask=0x40)
 
         # Route signals on interrupt pin 1
         self.set_mem_bank(_FUNC_CFG_BANK_EMBED)
-        self._write_reg(_MLC_INT1, self._read_reg(_MLC_INT1) & 0x01)
+        self._modify_bits(_MLC_INT1, clr_mask=0xFE)
         self.set_mem_bank(_FUNC_CFG_BANK_USER)
 
         # Configure interrupt pin mode
-        self._write_reg(_TAP_CFG0, self._read_reg(_TAP_CFG0) | 0x41)
+        self._modify_bits(_TAP_CFG0, set_mask=0x41)
 
         self.set_embedded_functions(True, emb_ab)
 
@@ -323,33 +319,22 @@ def pedometer_config(self, enable=True, debounce=10, int1_enable=False, int2_ena
         self._select_page(_PEDO_DEB_STEPS_CONF, debounce)
 
         if int1_enable:
-            self._set_bits(_MD1_CFG, _INT_EMB_FUNC_MASK)
+            self._modify_bits(_MD1_CFG, set_mask=_INT_EMB_FUNC_MASK)
         if int2_enable:
-            self._set_bits(_MD2_CFG, _INT_EMB_FUNC_MASK)
+            self._modify_bits(_MD2_CFG, set_mask=_INT_EMB_FUNC_MASK)
 
         self.set_mem_bank(_FUNC_CFG_BANK_EMBED)
 
-        if enable:
-            self._set_bits(_EMB_FUNC_EN_A, _PEDO_EN_MASK)
-        else:
-            self._clear_bits(_EMB_FUNC_EN_A, _PEDO_EN_MASK)
-
-        if int1_enable:
-            self._set_bits(_EMB_FUNC_INT1, _PEDO_INT_MASK)
-        else:
-            self._clear_bits(_EMB_FUNC_INT1, _PEDO_INT_MASK)
-
-        if int2_enable:
-            self._set_bits(_EMB_FUNC_INT2, _PEDO_INT_MASK)
-        else:
-            self._clear_bits(_EMB_FUNC_INT2, _PEDO_INT_MASK)
+        self._modify_bits(_EMB_FUNC_EN_A, _PEDO_EN_MASK, enable and _PEDO_EN_MASK)
+        self._modify_bits(_EMB_FUNC_INT1, _PEDO_INT_MASK, int1_enable and _PEDO_INT_MASK)
+        self._modify_bits(_EMB_FUNC_INT2, _PEDO_INT_MASK, int2_enable and _PEDO_INT_MASK)
 
         self.set_mem_bank(_FUNC_CFG_BANK_USER)
 
     def pedometer_reset(self):
         """Reset the step counter."""
         self.set_mem_bank(_FUNC_CFG_BANK_EMBED)
-        self._set_bits(_EMB_FUNC_SRC, _PEDO_RST_STEP_MASK)
+        self._modify_bits(_EMB_FUNC_SRC, set_mask=_PEDO_RST_STEP_MASK)
         self.set_mem_bank(_FUNC_CFG_BANK_USER)
 
     def steps(self):