File content as of revision 5:abfc7660fde9:

/**
 * Masahiro FURUKAWA - m.furukawa@ist.osaka-u.ac.jp
 * 
 * June 7, 2016
 *
 * LDXL362 Acceleration Sensor (Extended to Ch1 ~ Ch3)
 *
 **/


#include "mbed.h"
#include "ADXL362.h"

Serial pc(USBTX, USBRX);
 
/*
    ~CS  (Chip Select)          p8
    MOSI (Master Out Slave In)  p5
    MISO (Master In Slave Out   p6
    SCK  (Serial Clock)         p7
*/


int main() {
    pc.baud(115200);
    
    ADXL362 *adxl362[6];
    
    adxl362[0] = new ADXL362( p8,  p5, p6, p7);
    adxl362[1] = new ADXL362( p9,  p5, p6, p7);
    adxl362[2] = new ADXL362( p10, p5, p6, p7);
    adxl362[3] = new ADXL362( p11, p5, p6, p7);
    adxl362[4] = new ADXL362( p12, p5, p6, p7);
    adxl362[5] = new ADXL362( p13, p5, p6, p7);
  
  
    // we need to wait at least 500ms after ADXL362 reset
    printf("\r\nInitializing . \r\n");
    for (int i=0; i<6; i++) {
        adxl362[i]->reset();
        wait_ms(600); 
     }
     
     
    wait_ms(600); 
    
    for (int i=0; i<6; i++) 
    {
        adxl362[i]->frequency(20000);
        adxl362[i]->frequency(1000000);
        adxl362[i]->set_mode(ADXL362::MEASUREMENT); 
    }
    //while(1) {
    for (int i=0; i<6; i++) 
    {
        uint8_t err = false;
        uint8_t ad  = static_cast<uint8_t>(adxl362[i]->read_reg(ADXL362::DEVID_AD));
        uint8_t mst = static_cast<uint8_t>(adxl362[i]->read_reg(ADXL362::DEVID_MST));
        uint8_t pid = static_cast<uint8_t>(adxl362[i]->read_reg(ADXL362::PARTID));
        uint8_t rid = static_cast<uint8_t>(adxl362[i]->read_reg(ADXL362::REVID));
        err |= (0xAD != ad); 
        err |= (0x1D != mst); 
        err |= (0xF2 != pid);
        err |= (0x02 != rid); 
        if (err) printf("CH %d has error DevID_AD %02x DevID_MST %02x PartID %02x RevID %02x\r\n", i, ad, mst, pid, rid); 
    }
    //}
    
    uint64_t xyzt[6];
    short xi[6],yi[6],zi[6];
    
    while(1) {
        
           
        
 /*     pc.putc('#');
        char ch;
         for(int i=8;i>2;i--)
        { 
            ch =  static_cast<uint8_t>(0xF&( t1>>(i*8) ) );
            pc.putc(ch);
        }
        pc.putc(',');
        for(int i=8;i>2;i--)
        { 
            ch =  static_cast<uint8_t>(0xF&( t2>>(i*8) ) );
            pc.putc(ch);
        }
        pc.putc(',');
        for(int i=8;i>2;i--)
        { 
            ch =  static_cast<uint8_t>(0xF&( t3>>(i*8) ) );
            pc.putc(ch);
        }
    */     
        
        for (int i=0; i<6; i++) 
            xyzt[i] = adxl362[i]->scan();
            
        for (int i=0; i<6; i++) {
            uint16_t x = static_cast<uint16_t>(0xFFFF&(xyzt[i]>>48));
            uint16_t y = static_cast<uint16_t>(0xFFFF&(xyzt[i]>>32));
            uint16_t z = static_cast<uint16_t>(0xFFFF&(xyzt[i]>>16));
            
            if(x & 1<<16) xi[i] = -1 * static_cast<short>(~x) + 1; else xi[i] = x;
            if(y & 1<<16) yi[i] = -1 * static_cast<short>(~y) + 1; else yi[i] = y;
            if(z & 1<<16) zi[i] = -1 * static_cast<short>(~z) + 1; else zi[i] = z;
        }
        for (int i=0; i<6; i++) {            
            printf("%d %d %d ", xi[i], yi[i], zi[i]);
        }
        printf("\r\n");
        wait_us(1);
    }
}