void readXYZ(int16_t *x_val, int16_t *y_val, int16_t *z_val){
    uint8_t x0 = 0;
    uint16_t x1 = 0;
    uint8_t y0 = 0;
    uint16_t y1 = 0;
    uint8_t z0 = 0;
    uint16_t z1 = 0;

    int16_t x = 0;
    int16_t y = 0;
    int16_t z = 0;

    //read X-Axis
    x0 = readRegister(0x80 | 0x32);
    x1 = readRegister(0x80 | 0x33);

    //read Y-Axis
    y0 = readRegister(0x80 | 0x34);
    y1 = readRegister(0x80 | 0x35);

    //read Z-Axis
    z0 = readRegister(0x80 | 0x36);
    z1 = readRegister(0x80 | 0x37);

    //convert in milli-G [4.0mg/LSB] in +/- 16g mode @ full-res
    x = (int16_t)((x1 << 8) | x0);
    y = (int16_t)((y1 << 8) | y0);
    z = (int16_t)((z1 << 8) | z0);

    *x_val = x * 4;
    *y_val = y * 4;
    *z_val = z * 4;
}