This code is written for the mpu6050 IMU sensor but changing the name of the device from mpu6050 to any of the devices hat are listed as compatible should work...
Run init.sh as root to setup the i2c bus to register the mpu6050 sensor, but should be easily modifiable to support spi and / or other sensors.
Compile the c code linking against libiio -liio flag and run as root to read data from the sensor.