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Are there interrupt Pin in the GY91 Module?
If not, are there good alternative for periodic sensor reading?
(apart from mcu schedule/external timer)

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No. The INT pin of the MPU-9250 is not presented on the IO header of the GY-91.

The only way of knowing what is going on inside the MPU-9250 at any time is to go and look. I.e., periodic polling of the sensor.

If you want to use the interrupt pin you will have to shop around for a different module that gives you access to that pin.

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