#define ADIS16204_STARTUP_DELAY 220 /* ms */
-#define ADIS16204_FLASH_CNT 0x00 /* Flash memory write count */
-#define ADIS16204_SUPPLY_OUT 0x02 /* Output, power supply */
-#define ADIS16204_XACCL_OUT 0x04 /* Output, x-axis accelerometer */
-#define ADIS16204_YACCL_OUT 0x06 /* Output, y-axis accelerometer */
-#define ADIS16204_AUX_ADC 0x08 /* Output, auxiliary ADC input */
-#define ADIS16204_TEMP_OUT 0x0A /* Output, temperature */
-#define ADIS16204_X_PEAK_OUT 0x0C /* Twos complement */
-#define ADIS16204_Y_PEAK_OUT 0x0E /* Twos complement */
-#define ADIS16204_XACCL_NULL 0x10 /* Calibration, x-axis acceleration offset null */
-#define ADIS16204_YACCL_NULL 0x12 /* Calibration, y-axis acceleration offset null */
-#define ADIS16204_XACCL_SCALE 0x14 /* X-axis scale factor calibration register */
-#define ADIS16204_YACCL_SCALE 0x16 /* Y-axis scale factor calibration register */
-#define ADIS16204_XY_RSS_OUT 0x18 /* XY combined acceleration (RSS) */
-#define ADIS16204_XY_PEAK_OUT 0x1A /* Peak, XY combined output (RSS) */
-#define ADIS16204_CAP_BUF_1 0x1C /* Capture buffer output register 1 */
-#define ADIS16204_CAP_BUF_2 0x1E /* Capture buffer output register 2 */
-#define ADIS16204_ALM_MAG1 0x20 /* Alarm 1 amplitude threshold */
-#define ADIS16204_ALM_MAG2 0x22 /* Alarm 2 amplitude threshold */
-#define ADIS16204_ALM_CTRL 0x28 /* Alarm control */
-#define ADIS16204_CAPT_PNTR 0x2A /* Capture register address pointer */
-#define ADIS16204_AUX_DAC 0x30 /* Auxiliary DAC data */
-#define ADIS16204_GPIO_CTRL 0x32 /* General-purpose digital input/output control */
-#define ADIS16204_MSC_CTRL 0x34 /* Miscellaneous control */
-#define ADIS16204_SMPL_PRD 0x36 /* Internal sample period (rate) control */
-#define ADIS16204_AVG_CNT 0x38 /* Operation, filter configuration */
-#define ADIS16204_SLP_CNT 0x3A /* Operation, sleep mode control */
-#define ADIS16204_DIAG_STAT 0x3C /* Diagnostics, system status register */
-#define ADIS16204_GLOB_CMD 0x3E /* Operation, system command register */
+/* Flash memory write count */
+#define ADIS16204_FLASH_CNT 0x00
+
+/* Output, power supply */
+#define ADIS16204_SUPPLY_OUT 0x02
+
+/* Output, x-axis accelerometer */
+#define ADIS16204_XACCL_OUT 0x04
+
+/* Output, y-axis accelerometer */
+#define ADIS16204_YACCL_OUT 0x06
+
+/* Output, auxiliary ADC input */
+#define ADIS16204_AUX_ADC 0x08
+
+/* Output, temperature */
+#define ADIS16204_TEMP_OUT 0x0A
+
+/* Twos complement */
+#define ADIS16204_X_PEAK_OUT 0x0C
+#define ADIS16204_Y_PEAK_OUT 0x0E
+
+/* Calibration, x-axis acceleration offset null */
+#define ADIS16204_XACCL_NULL 0x10
+
+/* Calibration, y-axis acceleration offset null */
+#define ADIS16204_YACCL_NULL 0x12
+
+/* X-axis scale factor calibration register */
+#define ADIS16204_XACCL_SCALE 0x14
+
+/* Y-axis scale factor calibration register */
+#define ADIS16204_YACCL_SCALE 0x16
+
+/* XY combined acceleration (RSS) */
+#define ADIS16204_XY_RSS_OUT 0x18
+
+/* Peak, XY combined output (RSS) */
+#define ADIS16204_XY_PEAK_OUT 0x1A
+
+/* Capture buffer output register 1 */
+#define ADIS16204_CAP_BUF_1 0x1C
+
+/* Capture buffer output register 2 */
+#define ADIS16204_CAP_BUF_2 0x1E
+
+/* Alarm 1 amplitude threshold */
+#define ADIS16204_ALM_MAG1 0x20
+
+/* Alarm 2 amplitude threshold */
+#define ADIS16204_ALM_MAG2 0x22
+
+/* Alarm control */
+#define ADIS16204_ALM_CTRL 0x28
+
+/* Capture register address pointer */
+#define ADIS16204_CAPT_PNTR 0x2A
+
+/* Auxiliary DAC data */
+#define ADIS16204_AUX_DAC 0x30
+
+/* General-purpose digital input/output control */
+#define ADIS16204_GPIO_CTRL 0x32
+
+/* Miscellaneous control */
+#define ADIS16204_MSC_CTRL 0x34
+
+/* Internal sample period (rate) control */
+#define ADIS16204_SMPL_PRD 0x36
+
+/* Operation, filter configuration */
+#define ADIS16204_AVG_CNT 0x38
+
+/* Operation, sleep mode control */
+#define ADIS16204_SLP_CNT 0x3A
+
+/* Diagnostics, system status register */
+#define ADIS16204_DIAG_STAT 0x3C
+
+/* Operation, system command register */
+#define ADIS16204_GLOB_CMD 0x3E
/* MSC_CTRL */
-#define ADIS16204_MSC_CTRL_PWRUP_SELF_TEST BIT(10) /* Self-test at power-on: 1 = disabled, 0 = enabled */
-#define ADIS16204_MSC_CTRL_SELF_TEST_EN BIT(8) /* Self-test enable */
-#define ADIS16204_MSC_CTRL_DATA_RDY_EN BIT(2) /* Data-ready enable: 1 = enabled, 0 = disabled */
-#define ADIS16204_MSC_CTRL_ACTIVE_HIGH BIT(1) /* Data-ready polarity: 1 = active high, 0 = active low */
-#define ADIS16204_MSC_CTRL_DATA_RDY_DIO2 BIT(0) /* Data-ready line selection: 1 = DIO2, 0 = DIO1 */
+
+/* Self-test at power-on: 1 = disabled, 0 = enabled */
+#define ADIS16204_MSC_CTRL_PWRUP_SELF_TEST BIT(10)
+
+/* Self-test enable */
+#define ADIS16204_MSC_CTRL_SELF_TEST_EN BIT(8)
+
+/* Data-ready enable: 1 = enabled, 0 = disabled */
+#define ADIS16204_MSC_CTRL_DATA_RDY_EN BIT(2)
+
+/* Data-ready polarity: 1 = active high, 0 = active low */
+#define ADIS16204_MSC_CTRL_ACTIVE_HIGH BIT(1)
+
+/* Data-ready line selection: 1 = DIO2, 0 = DIO1 */
+#define ADIS16204_MSC_CTRL_DATA_RDY_DIO2 BIT(0)
/* DIAG_STAT */
-#define ADIS16204_DIAG_STAT_ALARM2 BIT(9) /* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
-#define ADIS16204_DIAG_STAT_ALARM1 BIT(8) /* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
-#define ADIS16204_DIAG_STAT_SELFTEST_FAIL_BIT 5 /* Self-test diagnostic error flag: 1 = error condition,
- 0 = normal operation */
-#define ADIS16204_DIAG_STAT_SPI_FAIL_BIT 3 /* SPI communications failure */
-#define ADIS16204_DIAG_STAT_FLASH_UPT_BIT 2 /* Flash update failure */
-#define ADIS16204_DIAG_STAT_POWER_HIGH_BIT 1 /* Power supply above 3.625 V */
-#define ADIS16204_DIAG_STAT_POWER_LOW_BIT 0 /* Power supply below 2.975 V */
+
+/* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
+#define ADIS16204_DIAG_STAT_ALARM2 BIT(9)
+
+/* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
+#define ADIS16204_DIAG_STAT_ALARM1 BIT(8)
+
+/* Self-test diagnostic error flag: 1 = error condition, 0 = normal operation */
+#define ADIS16204_DIAG_STAT_SELFTEST_FAIL_BIT 5
+
+/* SPI communications failure */
+#define ADIS16204_DIAG_STAT_SPI_FAIL_BIT 3
+
+/* Flash update failure */
+#define ADIS16204_DIAG_STAT_FLASH_UPT_BIT 2
+
+/* Power supply above 3.625 V */
+#define ADIS16204_DIAG_STAT_POWER_HIGH_BIT 1
+
+/* Power supply below 2.975 V */
+#define ADIS16204_DIAG_STAT_POWER_LOW_BIT 0
/* GLOB_CMD */
+
#define ADIS16204_GLOB_CMD_SW_RESET BIT(7)
#define ADIS16204_GLOB_CMD_CLEAR_STAT BIT(4)
#define ADIS16204_GLOB_CMD_FACTORY_CAL BIT(1)