#include <Wire.h>

#define address 0x35

int16_t x, y, z;
int16_t temp;

void setup() {
  Serial.begin(115200);
  Wire.begin();
  Wire.setClock(400000);

  // --- Reset sequence ---
  Wire.beginTransmission(0);
  Wire.write(0xFF);
  Wire.endTransmission();
  Wire.beginTransmission(0);
  Wire.write(0xFF);
  Wire.endTransmission();
  Wire.beginTransmission(0);
  Wire.write(0x00);
  Wire.endTransmission();
  Wire.beginTransmission(0);
  Wire.write(0x00);
  Wire.endTransmission();
  delayMicroseconds(50);

  // --- Configure sensor ---
  Wire.beginTransmission(address);
  Wire.write(0x10);
  Wire.write(0x28); // config
  Wire.write(0x15); // mode
  Wire.endTransmission();

  delay(100);
}

void loop() {
  uint8_t v0, v1, v2, v3, v4, v5;

  // --- Read 6 bytes ---
  Wire.requestFrom(address, 6);

  if (Wire.available() == 6) {
    v0 = Wire.read();
    v1 = Wire.read();
    v2 = Wire.read();
    v3 = Wire.read();
    v4 = Wire.read();
    v5 = Wire.read();

    // --- Decode 12-bit signed values ---
    x = ((int16_t)v0 << 4) | (v4 >> 4);
    y = ((int16_t)v1 << 4) | (v4 & 0x0F);
    z = ((int16_t)v2 << 4) | (v5 & 0x0F);

    // --- Sign correction (12-bit signed) ---
    if (x & 0x800) x -= 4096;
    if (y & 0x800) y -= 4096;
    if (z & 0x800) z -= 4096;

    // --- Temperature (optional rough value) ---
    temp = v3;

    // --- Print readable output ---
    Serial.print("X: ");
    Serial.print(x);
    Serial.print(" | Y: ");
    Serial.print(y);
    Serial.print(" | Z: ");
    Serial.print(z);
    Serial.print(" | Temp: ");
    Serial.println(temp);
  }

  delay(100); // readable rate
}