Have you any example to how use this?

[josb86]

Have you any example to how use this?

[fMeow]

Yes and no. Notice there is exactly two different version of DMP driver. One with a complete example and the other without.

For the one in master branch, there is no example. But this version is simple and straight forward.
Just initialize by MPU6050_initialize() and DMP_Init(). Then use Read_DMP() to update quaternion computed by DMP hardware in MPU6050. At last, read these quoternion in q0,q1,q2,q3. Well, this code really sucks that the computed quoternion is hidden inside MPU6050.c.

If your MCU is powerful enough, I recommend the other version that is located in I2Cdev branch.
As for "I2Cdev" branch, there is a working example using STM32CubeMX on STM32F103C8T6.