How to access DMP registers on MPU6050?

Hi,
Im new to MPUs. I recently bought a MPU6050 curious to see it work. I was going to the documentation on registers of the unit. However, I wanted to see the final angle measurments - roll & pitch from the unit, which I believe is available from DMP registers.

So, now I have two questions:
- How can I access the DMP registers of MPU 6050?
- Can I use a 8 bit micro controller to begin with - Atmel or PIC(I have a PIC 16F690 with me)?

Please advise.