bmi088 accel: use IMU_GYRO_RATEMAX to configure sampling rate (with 800 max)

Primarily for logging the fifo topic @400 Hz.

src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp

@@ -43,13 +43,14 @@ namespace Bosch::BMI088::Accelerometer
 BMI088_Accelerometer::BMI088_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
 		int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
 	BMI088(DRV_ACC_DEVTYPE_BMI088, "BMI088_Accelerometer", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
+	ModuleParams(nullptr),
 	_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation)
 {
 	if (drdy_gpio != 0) {
 		_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME"_accel: DRDY interval");
 	}
 
-	ConfigureSampleRate();
+	ConfigureSampleRate(_param_imu_gyro_rate_max.get());
 }
 
 BMI088_Accelerometer::~BMI088_Accelerometer()
@@ -285,7 +286,7 @@ void BMI088_Accelerometer::ConfigureAccel()
 
 void BMI088_Accelerometer::ConfigureSampleRate(int sample_rate)
 {
-	if (sample_rate == 0) {
+	if (sample_rate == 0 || sample_rate > 800) {
 		sample_rate = 800; // default to 800 Hz
 	}
 

src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.hpp

@@ -36,13 +36,14 @@
 #include "BMI088.hpp"
 
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
+#include <px4_platform_common/module_params.h>
 
 #include "Bosch_BMI088_Accelerometer_Registers.hpp"
 
 namespace Bosch::BMI088::Accelerometer
 {
 
-class BMI088_Accelerometer : public BMI088
+class BMI088_Accelerometer : public BMI088, public ModuleParams
 {
 public:
 	BMI088_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
@@ -129,6 +130,10 @@ private:
 		{ Register::INT1_IO_CONF,          INT1_IO_CONF_BIT::int1_out, 0 },
 		{ Register::INT1_INT2_MAP_DATA,    INT1_INT2_MAP_DATA_BIT::int1_fwm, 0},
 	};
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_rate_max
+	)
 };
 
 } // namespace Bosch::BMI088::Accelerometer