using optionally different IMUs instead?

[dsyleixa]

hello,
how would it be possible to use your kalman libs optionally with different IMUs, e.g. precalculated data from a CMPS10/11?
I can retrieve the data and also calculate all the actual fp (double) gyro angles and accelerometer data, so I only have to pass them to your Kalman, no extra i2c readings needed, no i2c.h lib included, and despensing with all the specific 6050 stuff.
In other words:
a native IMU Kalman lib, just to pass the precalculated angles (0.0-359.9 degrees) and xyz accelerations (m/s² by int16_t or fp) to, and an example code how to do this.
Is there such an example code already available?