#define ADIS16201_STARTUP_DELAY 220 /* ms */
-#define ADIS16201_FLASH_CNT 0x00 /* Flash memory write count */
-#define ADIS16201_SUPPLY_OUT 0x02 /* Output, power supply */
-#define ADIS16201_XACCL_OUT 0x04 /* Output, x-axis accelerometer */
-#define ADIS16201_YACCL_OUT 0x06 /* Output, y-axis accelerometer */
-#define ADIS16201_AUX_ADC 0x08 /* Output, auxiliary ADC input */
-#define ADIS16201_TEMP_OUT 0x0A /* Output, temperature */
-#define ADIS16201_XINCL_OUT 0x0C /* Output, x-axis inclination */
-#define ADIS16201_YINCL_OUT 0x0E /* Output, y-axis inclination */
-#define ADIS16201_XACCL_OFFS 0x10 /* Calibration, x-axis acceleration offset */
-#define ADIS16201_YACCL_OFFS 0x12 /* Calibration, y-axis acceleration offset */
-#define ADIS16201_XACCL_SCALE 0x14 /* x-axis acceleration scale factor */
-#define ADIS16201_YACCL_SCALE 0x16 /* y-axis acceleration scale factor */
-#define ADIS16201_XINCL_OFFS 0x18 /* Calibration, x-axis inclination offset */
-#define ADIS16201_YINCL_OFFS 0x1A /* Calibration, y-axis inclination offset */
-#define ADIS16201_XINCL_SCALE 0x1C /* x-axis inclination scale factor */
-#define ADIS16201_YINCL_SCALE 0x1E /* y-axis inclination scale factor */
-#define ADIS16201_ALM_MAG1 0x20 /* Alarm 1 amplitude threshold */
-#define ADIS16201_ALM_MAG2 0x22 /* Alarm 2 amplitude threshold */
-#define ADIS16201_ALM_SMPL1 0x24 /* Alarm 1, sample period */
-#define ADIS16201_ALM_SMPL2 0x26 /* Alarm 2, sample period */
-#define ADIS16201_ALM_CTRL 0x28 /* Alarm control */
-#define ADIS16201_AUX_DAC 0x30 /* Auxiliary DAC data */
-#define ADIS16201_GPIO_CTRL 0x32 /* General-purpose digital input/output control */
-#define ADIS16201_MSC_CTRL 0x34 /* Miscellaneous control */
-#define ADIS16201_SMPL_PRD 0x36 /* Internal sample period (rate) control */
-#define ADIS16201_AVG_CNT 0x38 /* Operation, filter configuration */
-#define ADIS16201_SLP_CNT 0x3A /* Operation, sleep mode control */
-#define ADIS16201_DIAG_STAT 0x3C /* Diagnostics, system status register */
-#define ADIS16201_GLOB_CMD 0x3E /* Operation, system command register */
+/* Flash memory write count */
+#define ADIS16201_FLASH_CNT 0x00
+
+/* Output, power supply */
+#define ADIS16201_SUPPLY_OUT 0x02
+
+/* Output, x-axis accelerometer */
+#define ADIS16201_XACCL_OUT 0x04
+
+/* Output, y-axis accelerometer */
+#define ADIS16201_YACCL_OUT 0x06
+
+/* Output, auxiliary ADC input */
+#define ADIS16201_AUX_ADC 0x08
+
+/* Output, temperature */
+#define ADIS16201_TEMP_OUT 0x0A
+
+/* Output, x-axis inclination */
+#define ADIS16201_XINCL_OUT 0x0C
+
+/* Output, y-axis inclination */
+#define ADIS16201_YINCL_OUT 0x0E
+
+/* Calibration, x-axis acceleration offset */
+#define ADIS16201_XACCL_OFFS 0x10
+
+/* Calibration, y-axis acceleration offset */
+#define ADIS16201_YACCL_OFFS 0x12
+
+/* x-axis acceleration scale factor */
+#define ADIS16201_XACCL_SCALE 0x14
+
+/* y-axis acceleration scale factor */
+#define ADIS16201_YACCL_SCALE 0x16
+
+/* Calibration, x-axis inclination offset */
+#define ADIS16201_XINCL_OFFS 0x18
+
+/* Calibration, y-axis inclination offset */
+#define ADIS16201_YINCL_OFFS 0x1A
+
+/* x-axis inclination scale factor */
+#define ADIS16201_XINCL_SCALE 0x1C
+
+/* y-axis inclination scale factor */
+#define ADIS16201_YINCL_SCALE 0x1E
+
+/* Alarm 1 amplitude threshold */
+#define ADIS16201_ALM_MAG1 0x20
+
+/* Alarm 2 amplitude threshold */
+#define ADIS16201_ALM_MAG2 0x22
+
+/* Alarm 1, sample period */
+#define ADIS16201_ALM_SMPL1 0x24
+
+/* Alarm 2, sample period */
+#define ADIS16201_ALM_SMPL2 0x26
+
+/* Alarm control */
+#define ADIS16201_ALM_CTRL 0x28
+
+/* Auxiliary DAC data */
+#define ADIS16201_AUX_DAC 0x30
+
+/* General-purpose digital input/output control */
+#define ADIS16201_GPIO_CTRL 0x32
+
+/* Miscellaneous control */
+#define ADIS16201_MSC_CTRL 0x34
+
+/* Internal sample period (rate) control */
+#define ADIS16201_SMPL_PRD 0x36
+
+/* Operation, filter configuration */
+#define ADIS16201_AVG_CNT 0x38
+
+/* Operation, sleep mode control */
+#define ADIS16201_SLP_CNT 0x3A
+
+/* Diagnostics, system status register */
+#define ADIS16201_DIAG_STAT 0x3C
+
+/* Operation, system command register */
+#define ADIS16201_GLOB_CMD 0x3E
/* MSC_CTRL */
-#define ADIS16201_MSC_CTRL_SELF_TEST_EN BIT(8) /* Self-test enable */
-#define ADIS16201_MSC_CTRL_DATA_RDY_EN BIT(2) /* Data-ready enable: 1 = enabled, 0 = disabled */
-#define ADIS16201_MSC_CTRL_ACTIVE_HIGH BIT(1) /* Data-ready polarity: 1 = active high, 0 = active low */
-#define ADIS16201_MSC_CTRL_DATA_RDY_DIO1 BIT(0) /* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
+
+/* Self-test enable */
+#define ADIS16201_MSC_CTRL_SELF_TEST_EN BIT(8)
+
+/* Data-ready enable: 1 = enabled, 0 = disabled */
+#define ADIS16201_MSC_CTRL_DATA_RDY_EN BIT(2)
+
+/* Data-ready polarity: 1 = active high, 0 = active low */
+#define ADIS16201_MSC_CTRL_ACTIVE_HIGH BIT(1)
+
+/* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
+#define ADIS16201_MSC_CTRL_DATA_RDY_DIO1 BIT(0)
/* DIAG_STAT */
-#define ADIS16201_DIAG_STAT_ALARM2 BIT(9) /* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
-#define ADIS16201_DIAG_STAT_ALARM1 BIT(8) /* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
-#define ADIS16201_DIAG_STAT_SPI_FAIL_BIT 3 /* SPI communications failure */
-#define ADIS16201_DIAG_STAT_FLASH_UPT_BIT 2 /* Flash update failure */
-#define ADIS16201_DIAG_STAT_POWER_HIGH_BIT 1 /* Power supply above 3.625 V */
-#define ADIS16201_DIAG_STAT_POWER_LOW_BIT 0 /* Power supply below 3.15 V */
+
+/* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
+#define ADIS16201_DIAG_STAT_ALARM2 BIT(9)
+
+/* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
+#define ADIS16201_DIAG_STAT_ALARM1 BIT(8)
+
+/* SPI communications failure */
+#define ADIS16201_DIAG_STAT_SPI_FAIL_BIT 3
+
+/* Flash update failure */
+#define ADIS16201_DIAG_STAT_FLASH_UPT_BIT 2
+
+/* Power supply above 3.625 V */
+#define ADIS16201_DIAG_STAT_POWER_HIGH_BIT 1
+
+/* Power supply below 3.15 V */
+#define ADIS16201_DIAG_STAT_POWER_LOW_BIT 0
/* GLOB_CMD */
+
#define ADIS16201_GLOB_CMD_SW_RESET BIT(7)
#define ADIS16201_GLOB_CMD_FACTORY_CAL BIT(1)