minimu9-ahrs is a program for reading data from the Pololu MinIMU-9 (all versions) over I²C. It can output the raw sensor data from the magnetometor, accelerometer, and gyro or it can use that raw data to compute the orientation of the IMU. This program was designed and tested on the Raspberry Pi, but it will probably work on any embedded Linux board that supports I²C. A Debian package is available for easy installation and the minimu9-ahrs source code is on github.
For help getting started, please see: https://github.com/DavidEGrayson/minimu9-ahrs/wiki.
Just run:
sudo apt-get install libi2c-dev libboost-program-options-dev
make