IMU (MPU6886) Library Expansion

[JasonPittenger]

Describe the bug

Can you expand the IMU library to incorporate more features of the MPU6886?

It has a built in low pass filter on both the gyro and accel data.
This is useful to reduce the needed sampling rate without getting aliasing errors. For example, I set it to the Accel and Gyro low pass filter to 5.1 Hz and 5.0 Hz respectively. This reduces noise and means I can sample at a much lower rate without high frequency data messing with the results. I am doing this manually right now.

The accelerometer offers low pass frequencies of 5.1, 10.2, 21.2, 44.8, 99.0, 218.1, 420.0 and 1046 Hz. (page 37-38 of https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/datasheet/core/MPU-6886-000193%2Bv1.1_GHIC_en.pdf) The Gyroscope offers low pass frequencies of 5, 10, 20, 41, 92, 176, 250, 3281, 8173 Hz. (page 36 of https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/datasheet/core/MPU-6886-000193%2Bv1.1_GHIC_en.pdf)

There is also a note in the data sheet that a bit in one of the registers should be set to 1 on every power up. (page 45 of https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/datasheet/core/MPU-6886-000193%2Bv1.1_GHIC_en.pdf) This should be included in the software library initialization sequence.

        //Set IMU accelerometer LPF frequency to 5.1Hz.
        Wire1.beginTransmission(MPU6886_ADDRESS);
        Wire1.write(MPU6886_ACCEL_CONFIG2);
        Wire1.write(0x06);
        Wire1.endTransmission();
        delay(1);
        //Set IMU Gyro LPF frequency to 5Hz.
        Wire1.beginTransmission(MPU6886_ADDRESS);
        Wire1.write(MPU6886_CONFIG);
        Wire1.write(0x06);
        Wire1.endTransmission();
        delay(1);
        //To avoid limiting sensor output to less than 0x7F7F, set this bit to 1. This should be done every time the MPU-6886 is powered up.
        Wire1.beginTransmission(MPU6886_ADDRESS);
        Wire1.write(MPU6886_ACCEL_INTEL_CTRL);
        Wire1.write(0x02);
        Wire1.endTransmission();
        delay(1);

Lastly, the MPU6886 has a low power mode that would be nice to have included in the library. (page 47 of https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/datasheet/core/MPU-6886-000193%2Bv1.1_GHIC_en.pdf)

//Set IMU sleep to 1 and disable temp sensor.
Wire1.beginTransmission(MPU6886_ADDRESS);
Wire1.write(MPU6886_PWR_MGMT_1);
Wire1.write(0x49);
Wire1.endTransmission();

//Wake up the IMU
Wire1.beginTransmission(MPU6886_ADDRESS);
Wire1.write(MPU6886_PWR_MGMT_1);
Wire1.write(0x01);
Wire1.endTransmission();

To reproduce

Any usage of the MPU6886

Expected behavior

I expect the library to allow setting the low pass filters, not limit the output to 0x7F7F, and allow low power/sleep mode.

Screenshots

No response

Environment

• OS:
• IDE &IDE Version:
• Repository Version:

Additional context

No response

Issue checklist

• [X] I searched for previous reports in the issue tracker
• [X] My report contains all necessary details

[icyqwq]

Feature added at commit 4492379.

[JasonPittenger]

Thank you!