sensor: icm42688: Fix broken build and streaming.

Makes driver actually build again.
Fixes scaling, q32 encoding, bit shifts, and register mappings.
Also enables High Resolution mode (a unique and beneficial
feature of the chip when used with streaming).

Co-authored-by: James Goppert <james.goppert@gmail.com>
Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>