The simplest possible test code for the ITG-3200 gyro, specifically as packaged in the IMU Digital Combo Board - 6 Degrees of Freedom ITG3200/ADXL345 from Sparkfun: http://www.sparkfun.com/products/10121
Created by Myles Grant myles@mylesgrant.com See also: https://github.com/grantmd/QuadCopter