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@@ -21,7 +21,145 @@
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#include <linux/iio/buffer.h>
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#include <linux/iio/imu/adis.h>
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-#include "adis16209.h"
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+#define ADIS16209_STARTUP_DELAY 220 /* ms */
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+
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+/* Flash memory write count */
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+#define ADIS16209_FLASH_CNT 0x00
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+
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+/* Output, power supply */
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+#define ADIS16209_SUPPLY_OUT 0x02
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+
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+/* Output, x-axis accelerometer */
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+#define ADIS16209_XACCL_OUT 0x04
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+
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+/* Output, y-axis accelerometer */
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+#define ADIS16209_YACCL_OUT 0x06
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+
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+/* Output, auxiliary ADC input */
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+#define ADIS16209_AUX_ADC 0x08
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+
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+/* Output, temperature */
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+#define ADIS16209_TEMP_OUT 0x0A
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+
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+/* Output, x-axis inclination */
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+#define ADIS16209_XINCL_OUT 0x0C
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+
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+/* Output, y-axis inclination */
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+#define ADIS16209_YINCL_OUT 0x0E
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+
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+/* Output, +/-180 vertical rotational position */
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+#define ADIS16209_ROT_OUT 0x10
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+
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+/* Calibration, x-axis acceleration offset null */
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+#define ADIS16209_XACCL_NULL 0x12
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+
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+/* Calibration, y-axis acceleration offset null */
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+#define ADIS16209_YACCL_NULL 0x14
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+
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+/* Calibration, x-axis inclination offset null */
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+#define ADIS16209_XINCL_NULL 0x16
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+
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+/* Calibration, y-axis inclination offset null */
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+#define ADIS16209_YINCL_NULL 0x18
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+
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+/* Calibration, vertical rotation offset null */
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+#define ADIS16209_ROT_NULL 0x1A
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+
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+/* Alarm 1 amplitude threshold */
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+#define ADIS16209_ALM_MAG1 0x20
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+
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+/* Alarm 2 amplitude threshold */
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+#define ADIS16209_ALM_MAG2 0x22
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+
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+/* Alarm 1, sample period */
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+#define ADIS16209_ALM_SMPL1 0x24
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+
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+/* Alarm 2, sample period */
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+#define ADIS16209_ALM_SMPL2 0x26
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+
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+/* Alarm control */
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+#define ADIS16209_ALM_CTRL 0x28
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+
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+/* Auxiliary DAC data */
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+#define ADIS16209_AUX_DAC 0x30
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+
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+/* General-purpose digital input/output control */
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+#define ADIS16209_GPIO_CTRL 0x32
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+
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+/* Miscellaneous control */
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+#define ADIS16209_MSC_CTRL 0x34
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+
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+/* Internal sample period (rate) control */
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+#define ADIS16209_SMPL_PRD 0x36
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+
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+/* Operation, filter configuration */
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+#define ADIS16209_AVG_CNT 0x38
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+
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+/* Operation, sleep mode control */
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+#define ADIS16209_SLP_CNT 0x3A
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+
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+/* Diagnostics, system status register */
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+#define ADIS16209_DIAG_STAT 0x3C
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+
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+/* Operation, system command register */
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+#define ADIS16209_GLOB_CMD 0x3E
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+
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+/* MSC_CTRL */
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+
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+/* Self-test at power-on: 1 = disabled, 0 = enabled */
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+#define ADIS16209_MSC_CTRL_PWRUP_SELF_TEST BIT(10)
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+
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+/* Self-test enable */
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+#define ADIS16209_MSC_CTRL_SELF_TEST_EN BIT(8)
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+
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+/* Data-ready enable: 1 = enabled, 0 = disabled */
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+#define ADIS16209_MSC_CTRL_DATA_RDY_EN BIT(2)
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+
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+/* Data-ready polarity: 1 = active high, 0 = active low */
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+#define ADIS16209_MSC_CTRL_ACTIVE_HIGH BIT(1)
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+
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+/* Data-ready line selection: 1 = DIO2, 0 = DIO1 */
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+#define ADIS16209_MSC_CTRL_DATA_RDY_DIO2 BIT(0)
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+
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+/* DIAG_STAT */
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+
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+/* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
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+#define ADIS16209_DIAG_STAT_ALARM2 BIT(9)
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+
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+/* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
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+#define ADIS16209_DIAG_STAT_ALARM1 BIT(8)
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+
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+/* Self-test diagnostic error flag: 1 = error condition, 0 = normal operation */
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+#define ADIS16209_DIAG_STAT_SELFTEST_FAIL_BIT 5
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+
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+/* SPI communications failure */
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+#define ADIS16209_DIAG_STAT_SPI_FAIL_BIT 3
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+
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+/* Flash update failure */
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+#define ADIS16209_DIAG_STAT_FLASH_UPT_BIT 2
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+
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+/* Power supply above 3.625 V */
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+#define ADIS16209_DIAG_STAT_POWER_HIGH_BIT 1
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+
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+/* Power supply below 3.15 V */
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+#define ADIS16209_DIAG_STAT_POWER_LOW_BIT 0
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+
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+/* GLOB_CMD */
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+
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+#define ADIS16209_GLOB_CMD_SW_RESET BIT(7)
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+#define ADIS16209_GLOB_CMD_CLEAR_STAT BIT(4)
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+#define ADIS16209_GLOB_CMD_FACTORY_CAL BIT(1)
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+
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+#define ADIS16209_ERROR_ACTIVE BIT(14)
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+
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+#define ADIS16209_SCAN_SUPPLY 0
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+#define ADIS16209_SCAN_ACC_X 1
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+#define ADIS16209_SCAN_ACC_Y 2
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+#define ADIS16209_SCAN_AUX_ADC 3
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+#define ADIS16209_SCAN_TEMP 4
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+#define ADIS16209_SCAN_INCLI_X 5
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+#define ADIS16209_SCAN_INCLI_Y 6
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+#define ADIS16209_SCAN_ROT 7
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static const u8 adis16209_addresses[8][1] = {
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[ADIS16209_SCAN_SUPPLY] = { },
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Narcisa Ana Maria Vasile