diff -Naur linux-2.6.25.maxim/arch/arm/mach-at91/data-fusion-som9260.c linux-2.6.25.at91-20080908/arch/arm/mach-at91/data-fusion-som9260.c
--- linux-2.6.25.maxim/arch/arm/mach-at91/data-fusion-som9260.c	1969-12-31 18:00:00.000000000 -0600
+++ linux-2.6.25.at91-20080908/arch/arm/mach-at91/data-fusion-som9260.c	2008-09-08 11:06:33.000000000 -0500
@@ -0,0 +1,230 @@
+/*
+ * arch/arm/mach-at91/data-fusion-som9260.c
+ * EMAC.Inc SOM9260m support for Compass Systems Data Fusion
+ * Carrier board.
+ *
+ * Copyright (C) 2007 EMAC.Inc <support@emacinc.com>
+ */
+
+#include <asm/io.h>
+#include <asm/hardware.h>
+#include <linux/class/gpio.h>
+#include <asm/arch/board.h>
+#include <asm/arch/at91sam9260.h>
+#include <asm/arch/gpio.h>
+
+/* #define DF_DEBUG */
+
+#ifdef DF_DEBUG
+#define DPRINT(string, args...) printk(string, ##args)
+#else
+#define DPRINT(args...)
+#endif
+
+
+/**
+ * static array defining digital output set
+ */
+static unsigned df_gpo_set[] = {
+	AT91_PIN_PC13,  /* VIS ON  */
+	AT91_PIN_PB16,  /* LAS ON  */
+	AT91_PIN_PB17,  /* GPS ON  */
+	AT91_PIN_PB18,  /* IR ON   */
+	AT91_PIN_PB19,  /* IND ON  */
+	AT91_PIN_PB20,  /* AHRS ON */
+};
+
+/* GPO register bit-map */
+#define DF_VIS_ON_OFFSET  (0)
+#define DF_LAS_ON_OFFSET  (1)
+#define DF_GPS_ON_OFFSET  (2)
+#define DF_IR_ON_OFFSET   (3)
+#define DF_IND_ON_OFFSET  (4)
+#define DF_AHRS_ON_OFFSET (5)
+
+#define DF_NUM_GPO ARRAY_SIZE(df_gpo_set)
+
+/**
+ * static array defining digital input set
+ */
+static unsigned df_gpi_set[] = {
+	AT91_PIN_PB21,  /* TRIG ON    */
+	AT91_PIN_PB0,   /* VIS FAULT  */
+	AT91_PIN_PB1,   /* LAS FAULT  */
+	AT91_PIN_PB2,   /* GPS FAULT  */
+	AT91_PIN_PB3,   /* IR FAULT   */
+	AT91_PIN_PB30,  /* IND FAULT  */
+	AT91_PIN_PC6,   /* AHRS FAULT */
+	AT91_PIN_PC9,   /* GPS STATUS */
+};
+
+/* GPI register bit-map */
+#define DF_TRIG_ON_OFFSET    (0)
+#define DF_VIS_FAULT_OFFSET  (1)
+#define DF_LAS_FAULT_OFFSET  (2)
+#define DF_GPS_FAULT_OFFSET  (3)
+#define DF_IR_FAULT_OFFSET   (4)
+#define DF_IND_FAULT_OFFSET  (5)
+#define DF_AHRS_FAULT_OFFSET (6)
+#define DF_GPS_STATUS_OFFSET (7)
+
+#define DF_NUM_GPI ARRAY_SIZE(df_gpi_set)
+
+#define DF_GET_GPO_BIT(name) \
+	(at91_get_gpio_value(df_gpo_set[DF_##name##_OFFSET]) << DF_##name##_OFFSET)
+
+#define DF_GET_GPI_BIT(name) \
+	(at91_get_gpio_value(df_gpi_set[DF_##name##_OFFSET]) << DF_##name##_OFFSET)
+
+#define DF_GPO_BIT_VALUE(data, offset) \
+	((data & (1 << offset)) >> offset)
+
+/**
+ * function to initialize the digital inputs and outputs
+ */
+static int data_fusion_gpio_init(void)
+{
+	int i;
+	
+	DPRINT("data_fusion_gpio_init: %d GPI and %d GPO\n", DF_NUM_GPI, DF_NUM_GPO);
+	/* set all GPIs to GPIO peripheral and input
+	 * external pull-ups are provided 
+	 */
+	for (i = 0; i < DF_NUM_GPI; i++)
+		at91_set_gpio_input(df_gpo_set[i], 0);
+
+	/* set all GPOs to GPIO peripheral and output
+	 * multi-drive is off for all of these */
+	for (i = 0; i < DF_NUM_GPO; i++) {
+		at91_set_gpio_output(df_gpo_set[i], 0);
+		at91_set_multi_drive(df_gpo_set[i], 0);
+	}
+
+	return 0;
+}
+
+/* There are two classes gpio devices created, one for the GPOs and one for the GPIs */
+
+#ifdef DF_DEBUG
+
+void df_show_gpo(void)
+{
+	DPRINT("VIS_ON : 0x%X\n", at91_get_gpio_value(df_gpo_set[DF_VIS_ON_OFFSET]));
+	DPRINT("LAS_ON : 0x%X\n", at91_get_gpio_value(df_gpo_set[DF_LAS_ON_OFFSET]));
+	DPRINT("GPS_ON : 0x%X\n", at91_get_gpio_value(df_gpo_set[DF_GPS_ON_OFFSET]));
+	DPRINT("IR_ON  : 0x%X\n", at91_get_gpio_value(df_gpo_set[DF_IR_ON_OFFSET]));
+	DPRINT("IND_ON : 0x%X\n", at91_get_gpio_value(df_gpo_set[DF_IND_ON_OFFSET]));
+	DPRINT("AHRS_ON: 0x%X\n", at91_get_gpio_value(df_gpo_set[DF_AHRS_ON_OFFSET]));
+}
+
+void df_show_gpi(void)
+{
+	DPRINT("TRIG_ON   : 0x%X\n", at91_get_gpio_value(df_gpi_set[DF_TRIG_ON_OFFSET]));
+	DPRINT("VIS_FAULT : 0x%X\n", at91_get_gpio_value(df_gpi_set[DF_VIS_FAULT_OFFSET]));
+	DPRINT("LAS_FAULT : 0x%X\n", at91_get_gpio_value(df_gpi_set[DF_LAS_FAULT_OFFSET]));
+	DPRINT("GPS_FAULT : 0x%X\n", at91_get_gpio_value(df_gpi_set[DF_GPS_FAULT_OFFSET]));
+	DPRINT("IR_FAULT  : 0x%X\n", at91_get_gpio_value(df_gpi_set[DF_IR_FAULT_OFFSET]));
+	DPRINT("IND_FAULT : 0x%X\n", at91_get_gpio_value(df_gpi_set[DF_IND_FAULT_OFFSET]));
+	DPRINT("AHRS_FAULT: 0x%X\n", at91_get_gpio_value(df_gpi_set[DF_AHRS_FAULT_OFFSET]));
+	DPRINT("GPS_STATUS: 0x%X\n", at91_get_gpio_value(df_gpi_set[DF_GPS_STATUS_OFFSET]));
+}
+
+#else
+#define df_show_gpo()
+#define df_show_gpi()
+#endif
+
+/**
+ * function to read back the current status of the GPO lines
+ * no shadow register is needed because we can read the current
+ * state of output lines on the 9260
+ */
+static gpio_data df_gpo_data_read(struct gpio_s *gpio)
+{
+	DPRINT("df_gpo_data_read\n");
+	df_show_gpo();
+
+	return (DF_GET_GPO_BIT(VIS_ON) |
+			DF_GET_GPO_BIT(LAS_ON) |
+			DF_GET_GPO_BIT(GPS_ON) |
+			DF_GET_GPO_BIT(IR_ON) |
+			DF_GET_GPO_BIT(IND_ON) |
+			DF_GET_GPO_BIT(AHRS_ON));
+}
+
+/**
+ * function to read back the current status of the GPI lines
+ */
+static gpio_data df_gpi_data_read(struct gpio_s *gpio)
+{
+	DPRINT("df_gpi_data_read\n");
+	df_show_gpi();
+
+	return (DF_GET_GPI_BIT(TRIG_ON) |
+			DF_GET_GPI_BIT(VIS_FAULT) |
+			DF_GET_GPI_BIT(LAS_FAULT) |
+			DF_GET_GPI_BIT(GPS_FAULT) |
+			DF_GET_GPI_BIT(IR_FAULT) |
+			DF_GET_GPI_BIT(IND_FAULT) |
+			DF_GET_GPI_BIT(AHRS_FAULT) |
+			DF_GET_GPI_BIT(GPS_STATUS));
+}
+
+/**
+ * function to set the value of the GPO lines
+ */
+static int df_gpo_data_write(struct gpio_s *gpio, gpio_data data)
+{
+	int i;
+	DPRINT("df_gpo_data_write: 0x%X\n", data);
+	/* loop through all lines and set value based on single bit in data */
+	for (i = 0; i < DF_NUM_GPO; i++) {
+		at91_set_gpio_value(df_gpo_set[i], DF_GPO_BIT_VALUE(data, i));
+		DPRINT("  wrote %d to offset %d\n", DF_GPO_BIT_VALUE(data, i), i);
+	}
+
+	return 0;
+}
+
+/* no index */
+/* no ddr   */
+
+/**
+ * function to register the class for the gpo register
+ */
+struct class_device *data_fusion_gpo_class_create(void)
+{
+	gpio_t *gpio = kmalloc(sizeof(gpio_t), GFP_KERNEL);
+
+	memset(gpio, 0, sizeof(gpio_t));
+	gpio->name = "data_fusion_gpo";
+	gpio->subclass = GPO_SUBCLASS;
+	gpio->data_write = df_gpo_data_write;
+	gpio->data_read = df_gpo_data_read;
+	printk("registering data fusion gpo device: %s\n", gpio->name);
+	return gpio_register_class_device(gpio);
+}
+
+/**
+ * function to register the class for the gpi register
+ */
+struct class_device *data_fusion_gpi_class_create(void)
+{
+	gpio_t *gpio = kmalloc(sizeof(gpio_t), GFP_KERNEL);
+
+	memset(gpio, 0, sizeof(gpio_t));
+	gpio->name = "data_fusion_gpi";
+	gpio->subclass = GPI_SUBCLASS;
+	gpio->data_write = gpio_empty_write;
+	gpio->data_read = df_gpi_data_read;
+	printk("registering data fusion gpi device: %s\n", gpio->name);
+	return gpio_register_class_device(gpio);
+}
+
+void data_fusion_board_init(void)
+{
+	data_fusion_gpio_init();
+	data_fusion_gpo_class_create();
+	data_fusion_gpi_class_create();
+}
+
diff -Naur linux-2.6.25.maxim/arch/arm/mach-at91/data-fusion-som9260.h linux-2.6.25.at91-20080908/arch/arm/mach-at91/data-fusion-som9260.h
--- linux-2.6.25.maxim/arch/arm/mach-at91/data-fusion-som9260.h	1969-12-31 18:00:00.000000000 -0600
+++ linux-2.6.25.at91-20080908/arch/arm/mach-at91/data-fusion-som9260.h	2008-09-05 18:10:37.000000000 -0500
@@ -0,0 +1,10 @@
+#ifndef DATA_FUSION_SOM9260_H_
+#define DATA_FUSION_SOM9260_H_
+
+#ifdef CONFIG_DATA_FUSION
+void data_fusion_board_init(void);
+#else
+#define data_fusion_board_init()
+#endif
+
+#endif /* DATA_FUSION_SOM9260_H_ */