All I want to do is just use 'motion driver' in c++

Hi

I'm using MPU9150 breakout and connected it to 'USB to ttl converter'

so i can get a raw data from mpu 9150 by program 'hyper terminal'
using usb com port

but question is.. how can i get a calibrated and motion fusioned data?

I saw that mpu9150 includes Digital motion processor

so user can get easily get pose(orientation yaw,pitch,roll.. else) by fused data

how can i get it? maybe should i use 'motion driver'? if then, how can use this in desktop and c++ because most of library seems to be used with arduino or other MCU...

please help me.. please I'm suffering about a week

any comment will be thankful