MPU-6050 with Arduino including Kalman filtering - help needed

Using Arduino Sensors
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i want to know how to this work i have searched many websites but could not find i want MPU-6050-Triple Axis Accelerometer Gyro connection with arduino and the program for kalman or complimentry filter
help me thanq

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Jeff Rowberg's code : i2cdevlib/Arduino/MPU6050 at master · jrowberg/i2cdevlib · GitHub
Guide for Kalman filtering : http://arduino.cc/forum/index.php/topic,58048.0.html