sensor: icm4268x: fix: Override FSR settings when high-res is enabled

When IMU is set to stream with High-res mode, the FSR settings are
fixed:
- ICM42688 at 16g and 2000dps.
- ICM42686 at 32g and 4000dps.

Unless this is enforced, the driver will provide incorrect scaling for
readings coming through streaming when the current FS setting is any
different than these.

Signed-off-by: Luis Ubieda <luisf@croxel.com>

Author: ubieda

drivers/sensor/tdk/icm4268x/icm4268x_rtio_stream.c

@@ -104,15 +104,34 @@ static void icm4268x_fifo_count_cb(struct rtio *r, const struct rtio_sqe *sqe, v
 	LOG_DBG("Requesting buffer [%u, %u] got %u", (unsigned int)min_read_size,
 		(unsigned int)ideal_read_size, buf_len);
 
+	/** FSR are fixed for high-resolution, at which point we should
+	 * override driver FS config.
+	 */
+	uint8_t accel_fs_hr, gyro_fs_hr;
+
+	switch (drv_data->cfg.variant) {
+	case ICM4268X_VARIANT_ICM42688:
+		accel_fs_hr = ICM42688_DT_ACCEL_FS_16;
+		gyro_fs_hr = ICM42688_DT_GYRO_FS_2000;
+		break;
+	case ICM4268X_VARIANT_ICM42686:
+		accel_fs_hr = ICM42686_DT_ACCEL_FS_32;
+		gyro_fs_hr = ICM42686_DT_GYRO_FS_4000;
+		break;
+	default:
+		CODE_UNREACHABLE;
+	}
+
 	/* Read FIFO and call back to rtio with rtio_sqe completion */
 	/* TODO is packet format even needed? the fifo has a header per packet
 	 * already
 	 */
 	struct icm4268x_fifo_data hdr = {
 		.header = {
 			.is_fifo = true,
-			.gyro_fs = drv_data->cfg.gyro_fs,
-			.accel_fs = drv_data->cfg.accel_fs,
+			.variant = drv_data->cfg.variant,
+			.gyro_fs = drv_data->cfg.fifo_hires ? gyro_fs_hr : drv_data->cfg.gyro_fs,
+			.accel_fs = drv_data->cfg.fifo_hires ? accel_fs_hr : drv_data->cfg.accel_fs,
 			.timestamp = drv_data->timestamp,
 			.axis_align[0] = drv_data->cfg.axis_align[0],
 			.axis_align[1] = drv_data->cfg.axis_align[1],