How to get DMP acquires data

Hello,

I am using MPU9150 and MSP430F5529 development board. I want to get a DMP acquires data from accelerometers, gyroscopes and magnetometers. I checked the sensor user manual. It mention that I can get all of the data from FIFO. But some guys also recommended that I should use Embedded MotionDriver 5.1. I am quite confuse about that. What is the different between it.

Thanks.

Sung Ming