To get started with minimal effort, setup the sensor as a standard ultrasonic sensor. That will give you "X" axis values in the range 0 to 255. The following code snipped will give you the signed value.
You'll have to do a bit more "work" to get all three axis. First, you need to write a task that will background poll the sensor for all six-bytes of data and then convert to ten bit values. A sample program that you can simply "#include" in your program should be available soon.