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Would anyone be able to explain these general terms about the library?

1. How does the Digital Motion Processing (DPM) within the chip work? What does it do?
2. How does the interrupt work? What is it caused by? I have a heavy sketch going on in the meantime (SD card, display, heart rate sensor.etc) in the background. Can it still be used with all these modules without delaying other functions?
3. How does the library incorporate quaternions?




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