sensor: icm45686: Swap ASSERT to CHECKIF in fifo decode

Change the __ASSERT on unsupported fifo packet header to
CHECKIF so the user can choose how to handle the invalid
packet.

Signed-off-by: Anthony Williams <[email protected]>

Author: anthony289478

drivers/sensor/tdk/icm45686/icm45686_decoder.c

@@ -7,6 +7,7 @@
  */
 
 #include <zephyr/drivers/sensor_clock.h>
+#include <zephyr/sys/check.h>
 
 #include "icm45686.h"
 #include "icm45686_reg.h"
@@ -489,11 +490,13 @@ static int icm45686_fifo_decode(const uint8_t *buffer,
 		/** This driver assumes 20-byte fifo packets, with both accel and gyro,
 		 * and no auxiliary sensors.
 		 */
-		__ASSERT(!(fdata->header & FIFO_HEADER_EXT_HEADER_EN(true)) &&
+		CHECKIF(!(!(fdata->header & FIFO_HEADER_EXT_HEADER_EN(true)) &&
 			(fdata->header & FIFO_HEADER_ACCEL_EN(true)) &&
 			(fdata->header & FIFO_HEADER_GYRO_EN(true)) &&
-			(fdata->header & FIFO_HEADER_HIRES_EN(true)),
-			"Unsupported FIFO packet format 0x%02x", fdata->header);
+			(fdata->header & FIFO_HEADER_HIRES_EN(true)))) {
+			LOG_ERR("Unsupported FIFO packet format 0x%02x", fdata->header);
+			return -ENOTSUP;
+		}
 
 		switch (chan_spec.chan_type) {
 		case SENSOR_CHAN_ACCEL_XYZ: