This program will enable your Raspberry Pi to read the values from a gyroscope and accelerometer and convert them to usable angles.

Go here for more information;
http://ozzmaker.com/berryimu/

BerryIMUv1, BerryIMUv2 and BerryIMUv3 are supported.

Compile with;
gcc -o gyro_accelerometer_tutorial01 -l rt gyro_accelerometer_tutorial01.c -lm

To run;
sudo ./gyro_accelerometer_tutorial01