Adaptation of code for another MEMS without a microcontroller on board and without “SpacePointTM”

[brightproject]

Hello @gregtomasch
The question is not a slightly off topic - do you think it is possible to adapt the example code for the MEMS BMI160 + HMC 5883L or LSM303 + L3DG20 sensors?
That is, without a microcontroller on board the debug board.
For fusion sensor use stm32 or esp32 or teensy 4.
As far as I understand, the example code

https://github.com/gregtomasch/EM7180_SENtral_Calibration/blob/master/ESP32_ST_USFS_Baseline_Calibration_Utility_Acc_WS/ESP32_ST_USFS_Baseline_Calibration_Utility_Acc_WS.ino

requires quaternions as input, and standard accelerations, angular velocities and magnetic field strength.
Or is some kind of hidden magic calculated inside the EM7180 / SENtral microcontroller on a board with mems and no other microcontroller can do this?

I tried the https://github.com/jordandcarter/RTIMULib-Arduino algorithm with LSM303 + L3DG20 sensors and the orientation angles were quite good.
Therefore, I am interested in other algorithms and testing them.
Thx!