File content as of revision 0:af16997a2d22:

#include "mbed.h"
#include "KXP84.h"

void KXP84::init() {
    char cmd[1];
    //reset=0;
    i2c.frequency(400000);
//CTRL_REGB
    i2c.start();
    wait_us(1);
    i2c.write(0x30);
    wait_us(1);
    *cmd=0x06;
    i2c.write(0x0B,cmd,1);
    wait_us(1);
    i2c.stop();
//CTRL_REGC
    i2c.start();
    wait_us(1);
    i2c.write(0x30);
    wait_us(1);
    *cmd=0x00;
    i2c.write(0x0A,cmd,1);
    wait_us(1);
    i2c.stop();
//FF_INT
    i2c.start();
    wait_us(1);
    i2c.write(0x30);
    wait_us(1);
    *cmd=0x14;
    i2c.write(0x06,cmd,1);
    wait_us(1);
    i2c.stop();
//FF_DELAY
    i2c.start();
    wait_us(1);
    i2c.write(0x30);
    wait_us(1);
    *cmd=0x14;
    i2c.write(0x07,cmd,1);
    wait_us(1);
    i2c.stop();
//MOT_INT
    i2c.start();
    wait_us(1);
    i2c.write(0x30);
    wait_us(1);
    *cmd=0x4D;
    i2c.write(0x08,cmd,1);
    wait_us(1);
    i2c.stop();
//MOT_DELAYC
    i2c.start();
    wait_us(1);
    i2c.write(0x30);
    wait_us(1);
    *cmd=0x14;
    i2c.write(0x09,cmd,1);
    wait_us(1);
    i2c.stop();
}

void KXP84::get(int *x, int *y, int *z) {
    char data[6];
    int dx,dy,dz;
    i2c.start();
    wait_us(1);
    i2c.write(0x30);
    wait_us(1);
    i2c.write(0x00);
    wait_us(1);
    i2c.read(0x30,data,6);
    wait_us(1);
    i2c.stop();

    dx=data[0]<<4 | data[1]>>4;
    dy=data[2]<<4 | data[3]>>4;
    dz=data[4]<<4 | data[5]>>4;

    //if (dx>2048)
    //    *x=dx-2048;
    //else
    *x=(int)(( (dx - 2048) * 1.24)+0.5);

    //if (dy>2048)
    //    *y=dy-2048;
    //else
    *y=(int)(( (dy - 2048) * 1.24)+0.5);
    //if (dz>2048)
    //    *z=dz-2048;
    //else
    *z=(int)(( (dz - 2048) * 1.24)+0.5);
}