sensor: icm45686: Change watermark threshold irq to equals

drivers/sensor/tdk/icm45686/icm45686.c

@@ -425,6 +425,7 @@ static int icm45686_init(const struct device *dev)
 				.lpf = DT_INST_PROP_OR(inst, gyro_lpf, 0),			   \
 			},									   \
 			.fifo_watermark = DT_INST_PROP_OR(inst, fifo_watermark, 0),		   \
+			.fifo_watermark_equals = DT_INST_PROP(inst, fifo_watermark_equals),	   \
 		},										   \
 		.int_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, int_gpios, {0}),			   \
 	};											   \

drivers/sensor/tdk/icm45686/icm45686.h

@@ -160,6 +160,7 @@ struct icm45686_config {
 			uint8_t lpf : 3;
 		} gyro;
 		uint16_t fifo_watermark;
+		bool fifo_watermark_equals : 1;
 	} settings;
 	struct gpio_dt_spec int_gpio;
 };

drivers/sensor/tdk/icm45686/icm45686_stream.c

@@ -127,7 +127,9 @@ static void icm45686_complete_handler(struct rtio *ctx,
 {
 	const struct device *dev = (const struct device *)arg;
 	struct icm45686_data *data = dev->data;
+	const struct icm45686_config *cfg = dev->config;
 	const struct sensor_read_config *read_cfg = data->stream.iodev_sqe->sqe.iodev->data;
+	const bool wm_gt_ths = !cfg->settings.fifo_watermark_equals;
 	uint8_t int_status = data->stream.data.int_status;
 	int err;
 
@@ -152,7 +154,7 @@ static void icm45686_complete_handler(struct rtio *ctx,
 
 	if (should_flush_fifo(read_cfg, int_status)) {
 		uint8_t write_reg = REG_FIFO_CONFIG2_FIFO_FLUSH(true) |
-				    REG_FIFO_CONFIG2_FIFO_WM_GT_THS(true);
+				    REG_FIFO_CONFIG2_FIFO_WM_GT_THS(wm_gt_ths);
 		LOG_WRN("Flushing FIFO: %d", int_status);
 
 		err = icm45686_prep_reg_write_rtio_async(&data->bus, REG_FIFO_CONFIG2, &write_reg,
@@ -367,6 +369,7 @@ void icm45686_stream_submit(const struct device *dev,
 	const struct sensor_read_config *read_cfg = iodev_sqe->sqe.iodev->data;
 	struct icm45686_data *data = dev->data;
 	const struct icm45686_config *cfg = dev->config;
+	const bool wm_gt_ths = !cfg->settings.fifo_watermark_equals;
 	uint8_t val = 0;
 	int err;
 
@@ -468,7 +471,7 @@ void icm45686_stream_submit(const struct device *dev,
 			uint16_t fifo_ths = data->stream.settings.enabled.fifo_ths ?
 					    cfg->settings.fifo_watermark : 0;
 
-			val = REG_FIFO_CONFIG2_FIFO_WM_GT_THS(true) |
+			val = REG_FIFO_CONFIG2_FIFO_WM_GT_THS(wm_gt_ths) |
 			      REG_FIFO_CONFIG2_FIFO_FLUSH(true);
 			err = icm45686_reg_write_rtio(&data->bus, REG_FIFO_CONFIG2, &val, 1);
 			if (err) {

dts/bindings/sensor/invensense,icm45686-common.yaml

@@ -147,3 +147,12 @@ properties:
       Specify the FIFO watermark level in frame count.
       Default is power-up configuration (disabled).
       Valid range: 0 - 104
+
+  fifo-watermark-equals:
+    type: boolean
+    description: |
+      This value changes the FIFO watermark interrupt behavior by only triggering when the number
+      of samples is equal to the threshold (count = watermark).
+
+      Otherwise, it will generate interrupts when the level is greater or equals the FIFO Watermark
+      Threshold (count >= watermark).