Using DMP and motion interrupts simultaneously

I am using the MPU9150 with an Atmel ATxmega256A3BU microprocessor and am making use of the Embedded Motion Driver v5.1.1 API.

My application uses DMP to obtain six-axis quaternion data and raw 3-axis accelerometer data, which is read out from the FIFO_R_W buffer using I2C burst read after accumulating data in the FIFO for a period equal to 25 DATA_RDY_INT interrupts (approximately 250ms as DMP fifo_rate is 100 Hz). Data from the compass is also read at this time using the motion_sensor_read_compass() routine. This all works fine.

I also need to generate motion based interrupts. This also works fine using mpu_lp_motion_interrupt() as described in the sample msp430 application provided with Embedded Motion driver v5.1.1.

However, mpu_lp_motion_interrupt() seems to disable all interrupts other than the MOT_INT interrupt. Does this mean that motion based interrupts and DMP quaternions and other DMP generated FIFO data cannot be used simultaneously? Or is this just the way the Embedded Motion Driver v5.1.1 is implemented, and it is possible to rework it to allow both DMP data ready interrupts and motion based interrupts to be enabled simultaneously? If so, what are the steps necessary?

Thanks,

Harv Hundal