I used the MPU6050 back in the day a lot, and being able to program the DMP to offload quaternion calculations was amazing. I saw that the ICM20689 is the suggested upgrade path for the MPU6050 users, so I put that in my design. As I go through the docs and the sample code, I can't see any reference to the quaternions being created there - and instead, it looks like all the calculations are performed on the host MCU...
So, I'm wondering if the ICM20689 even has a DMP, and if so, what does it do and how is it used?
I ported the appropriate code over to my STM32 platform, but I'm stuck on actually getting quaternions out of the device. The example code they provide for the 20x89 chips has about 1900 lines of example code to support, but back in the MPU6050 days, it was 1 register read.