DMP inner workings

I have managed to implement a custom 9DOF sensor fusion algorithm on my mpu6050-EVB with encouraging results.

It may lead to the production of couple of commercial items based on the mpu-6000 that I have in mind.

I am curious to know if Invensense is willing to provide details of the inner workings of the DMP so that we can harness its power in conjunction with our own proprietary software, that is without Invensense motion library at all.

No desire to infringe on IP here.

The motivation is obviously to use the internal core of the mpu6000 and free the host microprocessor in the embedded application.

Cheers