project: connect 6 gyro+accel for real time hand analysis

I am struggling a bit to find some info about how to start with this project.

The idea is to use 6 gyro+accelerometer to calculate the position of each finger and the hand, and transmit it in realtime to the computer, so the data can be analyzed and processed.

I had in mind to use MPU6050, but it is only I2C, and I can't put more than 2 on each channel. I am planning to use a MC to connect these sensor and transfer data to the computer (either an Arduino or a Beaglebone, not sure which would be better)

The alternative would be the MPU6000, which uses SPI instead, removing the I2C limitation. Atho the breakout boards are really hard to find and expensive.
I found a device called GY-85, which is made with a ITG3205 + ADXL345 + HMC5883L; which seems to fit the bill.

Is there any documentation about libraries or C++ code, that I can use to have access to the ITG3205 and HMC5883L? Then I will need also a way to access the ADXL345, but since it is not an InvenSense I guess that I will have to look elsewhere.

Thanks!