I require accurate motion tracking in a very low power device. The MPU-6050 is appealing because the sensor fusion is done internally using the DMP, meaning I shouldn't need a powerful host processor to do any of the filtering or sensor fusion. I'd ideally like to use a simple CPLD to communicate with the MPU over I2c and read the computed quaternions using the i2c fifo registers. I do not want to use the embedded motion processing library as this requires an additional, relatively large microcontroller (the code base of the library is quite large). Is this possible? Can I program the DMP to perform the sensor fusions without the embedded motion processing library?