InvenSense Motion Driver 6.0 beta
9-axis solution compatible with all ARM Mx core architectures. All relevant documentation is included in the zip file or can be found on the Developer Kit page.
http://www.invensense.com/developers/index.php?_r=home
IAR project with fixes here ARM\STM32L_MD6\Projects\eMD6\EWARM\Project.eww
Project for MSP430 removed