Add support for configuring interrupts

[jessebraham]

No description provided.

[Ben-PH]

Something that might be useful context: found this in the arduino library: https://github.com/InvenSenseInc/arduino.ICM42670P/blob/master/src/imu/inv_imu_driver.c#L84

Note the clearing of interrupt. At time of writing, the equivilent in here omits the interrupt clearing.

If I read this correctly, setting up interrupts will include needing to go through the existing library and verifying interrupt setting/clearing is taken care of