Guide to gyro and accelerometer with Arduino including Kalman filtering

See this code I wrote a while back: https://github.com/TKJElectronics/Example-Sketch-for-IMU-including-Kalman-filter/blob/master/IMU6DOF/MPU6050/MPU6050.ino for the MPU6050

And here is some code for the ITG3205/ITG3200 gyroscope and ADXL345 accelerometer: https://github.com/TKJElectronics/Example-Sketch-for-IMU-including-Kalman-filter/blob/master/IMU6DOF/ITG3205_ADXL345/ITG3205_ADXL345.ino