Sample code used to retrieve measurements from the ATAVRSBIN1's gyroscope - See https://blog.skyplabs.net/2014/10/06/test-de-la-carte-de-developpement-a-capteurs-inertiels-atavrsbin1-datmel/ (French)

ATAVRSBIN1_i2c.ino

#include <Wire.h>

void setup()
{
    Wire.begin();
    Serial.begin(9600);
}

const float gyro_factor = 14.375;

byte reading[8];
short temp_out = 0, x = 0, y = 0, z = 0;
float gyro_x = 0, gyro_y = 0, gyro_z = 0, temp = 0;

void loop()
{
    int i = 0;

    Wire.beginTransmission(0x68);       // ITG_3200 address
    Wire.write(byte(0x1b));             // TEMP_OUT_H address
    Wire.endTransmission(false);

    Wire.requestFrom(0x68, 8);

    while (Wire.available())
    {
        reading[i] = Wire.read();
        i++;
    }

    temp_out = (reading[0] << 8) | reading[1];
    temp = 35 + (temp_out + 13200) / 280.0;

    x = (reading[2] << 8) | reading[3];
    gyro_x = x / gyro_factor;
    y = (reading[4] << 8) | reading[5];
    gyro_y = y / gyro_factor;
    z = (reading[6] << 8) | reading[7];
    gyro_z = z / gyro_factor;

    Serial.println(temp);
    Serial.println(gyro_x);
    Serial.println(gyro_y);
    Serial.println(gyro_z);
    Serial.println("------------");

    Wire.endTransmission();
    delay(1000);
}