MotionApps Lite for IMU300

Hi,

I'd like to understand whether I can get 6-axis sensor fusion running with the TI Sensortag development board. This board has a IMU-3000 from Invensense and a KXTJ9 as well as a TI CC2541 single chip Bluetooth device with an 8-bit micro.

I would consider running the MotionApps on the mobile application processor only if this is possible? In the longer term running on the CC2541 would be advantageous.

The IMU-3000 datasheet and webpage states that it is compatible with MotionApps Lite and Embedded MotionApps Lite. However developer support suggested this is not the case so I am confused. So my 3 questions are:

1) Is 6-axis sensor fusion compatible with the IMU-3000, KXTJ9 combination. The datasheets say it is. Assuming it is compatible:
2) Which software download is required?
3) Can the sensor fusion be run on the apps processor only, instead of having to port firmware to the CC2541? This would allow the fastest route to prototyping.

Thanks,

Ross