Accessing a MPU60X0 in VHDL

Hello fellow bit writers,

We have a MPU60X0 connected directly to a FPGA via I2C. We want to use the MPU as a pointer for head-tracking. We know we need to upload the firmware first to the MPU before we can use the DMP. This is easy to do in VHDL since we have a Flash connected to the FPGA where we can store the firmware of the MPU.

What we were wondering is if any of the fellow developers have ever wrote code directly in VHDL in order to configure the MPU so that we can use the DMP to convert ACCEL + GYRO + COMPASS to a POINTER that we can use for our head-tracking application.

I know we can load a small uC in the FPGA in order to execute the C code that is on the Invensense web site, but writing code directly in VHDL would be more more efficient if it's possible.

Thanks for any help on that regard,
Bert