diff --git a/drivers/iio/gyro/fxas21002c.c b/drivers/iio/gyro/fxas21002c.c
index 7471e9b80010..b3f18d984e81 100644
--- a/drivers/iio/gyro/fxas21002c.c
+++ b/drivers/iio/gyro/fxas21002c.c
@@ -7,7 +7,7 @@
  * IIO driver for FXAS21002C (7-bit I2C slave address 0x20 or 0x21).
  * Datasheet: https://www.nxp.com/docs/en/data-sheet/FXAS21002.pdf
  * TODO:
- *        ODR / Scale Support
+ *        Scale boost mode
  *        Power management
  *        GPIO Reset
  *        Power supplies
@@ -43,7 +43,10 @@
 #define FXAS21002C_REG_F_EVENT         0x0A
 #define FXAS21002C_REG_INT_SRC_FLAG    0x0B
 #define FXAS21002C_REG_WHO_AM_I        0x0C
+
 #define FXAS21002C_REG_CTRL_REG0       0x0D
+#define FXAS21002C_SCALE_MASK          GENMASK(1, 0)
+
 #define FXAS21002C_REG_RT_CFG          0x0E
 #define FXAS21002C_REG_RT_SRC          0x0F
 #define FXAS21002C_REG_RT_THS          0x10
@@ -55,14 +58,12 @@
 #define FXAS21002C_ACTIVE_BIT          BIT(1)
 #define FXAS21002C_READY_BIT           BIT(0)
 
+#define FXAS21002C_ODR_SHIFT           2
+#define FXAS21002C_ODR_MASK            GENMASK(4, 2)
+
 #define FXAS21002C_REG_CTRL_REG2       0x14
 #define FXAS21002C_REG_CTRL_REG3       0x15
 
-#define FXAS21002C_DEFAULT_ODR_HZ      800
-
-/* 0.0625 deg/s */
-#define FXAS21002C_DEFAULT_SENSITIVITY IIO_DEGREE_TO_RAD(62500)
-
 #define FXAS21002C_TEMP_SCALE          1000
 
 enum fxas21002c_id {
@@ -81,6 +82,40 @@ struct fxas21002c_data {
 	struct regmap *regmap;
 };
 
+enum fxas21002c_scale {
+	FXAS21002C_SCALE_62MDPS,
+	FXAS21002C_SCALE_31MDPS,
+	FXAS21002C_SCALE_15MDPS,
+	FXAS21002C_SCALE_7MDPS,
+};
+
+static const int fxas21002c_anglevel_scale_avail[4][2] = {
+	[FXAS21002C_SCALE_62MDPS] = { 0, IIO_DEGREE_TO_RAD(62500) },
+	[FXAS21002C_SCALE_31MDPS] = { 0, IIO_DEGREE_TO_RAD(31250) },
+	[FXAS21002C_SCALE_15MDPS] = { 0, IIO_DEGREE_TO_RAD(15625) },
+	[FXAS21002C_SCALE_7MDPS]  = { 0, IIO_DEGREE_TO_RAD(7812) },
+};
+
+enum fxas21002c_odr {
+	FXAS21002C_ODR_800,
+	FXAS21002C_ODR_400,
+	FXAS21002C_ODR_200,
+	FXAS21002C_ODR_100,
+	FXAS21002C_ODR_50,
+	FXAS21002C_ODR_25,
+	FXAS21002C_ODR_12_5,
+};
+
+static const int fxas21002c_sample_freq_avail[7][2] = {
+	[FXAS21002C_ODR_800]  = { 800, 0 },
+	[FXAS21002C_ODR_400]  = { 400, 0 },
+	[FXAS21002C_ODR_200]  = { 200, 0 },
+	[FXAS21002C_ODR_100]  = { 100, 0 },
+	[FXAS21002C_ODR_50]   = { 50, 0 },
+	[FXAS21002C_ODR_25]   = { 25, 0 },
+	[FXAS21002C_ODR_12_5] = { 12, 500000 },
+};
+
 static const struct regmap_range fxas21002c_writable_ranges[] = {
 	regmap_reg_range(FXAS21002C_REG_F_SETUP, FXAS21002C_REG_F_SETUP),
 	regmap_reg_range(FXAS21002C_REG_CTRL_REG0, FXAS21002C_REG_RT_CFG),
@@ -252,6 +287,49 @@ static int fxas21002c_read_oneshot(struct fxas21002c_data *data,
 	}
 }
 
+static int fxas21002c_scale_read(struct fxas21002c_data *data, int *val,
+				 int *val2)
+{
+	int ret;
+	unsigned int raw;
+
+	ret = regmap_read(data->regmap, FXAS21002C_REG_CTRL_REG0, &raw);
+	if (ret)
+		return ret;
+
+	raw &= FXAS21002C_SCALE_MASK;
+
+	*val = fxas21002c_anglevel_scale_avail[raw][0];
+	*val2 = fxas21002c_anglevel_scale_avail[raw][1];
+
+	return IIO_VAL_INT_PLUS_MICRO;
+}
+
+static int fxas21002c_odr_read(struct fxas21002c_data *data, int *val,
+			       int *val2)
+{
+	int ret;
+	unsigned int raw;
+
+	ret = regmap_read(data->regmap, FXAS21002C_REG_CTRL_REG1, &raw);
+	if (ret)
+		return ret;
+
+	raw = (raw & FXAS21002C_ODR_MASK) >> FXAS21002C_ODR_SHIFT;
+
+	/*
+	 * We don't use this mode but according to the datasheet its
+	 * also a 12.5Hz
+	 */
+	if (raw == 7)
+		raw = FXAS21002C_ODR_12_5;
+
+	*val = fxas21002c_sample_freq_avail[raw][0];
+	*val2 = fxas21002c_sample_freq_avail[raw][1];
+
+	return IIO_VAL_INT_PLUS_MICRO;
+}
+
 static int fxas21002c_read_raw(struct iio_dev *indio_dev,
 			       struct iio_chan_spec const *chan, int *val,
 			       int *val2, long mask)
@@ -264,10 +342,7 @@ static int fxas21002c_read_raw(struct iio_dev *indio_dev,
 	case IIO_CHAN_INFO_SCALE:
 		switch (chan->type) {
 		case IIO_ANGL_VEL:
-			*val = 0;
-			*val2 = FXAS21002C_DEFAULT_SENSITIVITY;
-
-			return IIO_VAL_INT_PLUS_MICRO;
+			return fxas21002c_scale_read(data, val, val2);
 		case IIO_TEMP:
 			*val = FXAS21002C_TEMP_SCALE;
 
@@ -279,16 +354,76 @@ static int fxas21002c_read_raw(struct iio_dev *indio_dev,
 		if (chan->type != IIO_ANGL_VEL)
 			return -EINVAL;
 
-		*val = FXAS21002C_DEFAULT_ODR_HZ;
-
-		return IIO_VAL_INT;
+		return fxas21002c_odr_read(data, val, val2);
 	}
 
 	return -EINVAL;
 }
 
+static int fxas21002c_write_raw(struct iio_dev *indio_dev,
+				struct iio_chan_spec const *chan, int val,
+				int val2, long mask)
+{
+	struct fxas21002c_data *data = iio_priv(indio_dev);
+	int ret = -EINVAL;
+	int i;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		for (i = 0; i < ARRAY_SIZE(fxas21002c_sample_freq_avail); i++) {
+			if (fxas21002c_sample_freq_avail[i][0] == val &&
+			    fxas21002c_sample_freq_avail[i][1] == val2)
+				break;
+		}
+
+		if (i == ARRAY_SIZE(fxas21002c_sample_freq_avail))
+			break;
+
+		return regmap_update_bits(data->regmap,
+					  FXAS21002C_REG_CTRL_REG1,
+					  FXAS21002C_ODR_MASK,
+					  i << FXAS21002C_ODR_SHIFT);
+	case IIO_CHAN_INFO_SCALE:
+		for (i = 0; i < ARRAY_SIZE(fxas21002c_anglevel_scale_avail);
+		     i++) {
+			if (fxas21002c_anglevel_scale_avail[i][0] == val &&
+			    fxas21002c_anglevel_scale_avail[i][1] == val2)
+				break;
+		}
+
+		if (i == ARRAY_SIZE(fxas21002c_anglevel_scale_avail))
+			break;
+
+		return regmap_update_bits(data->regmap,
+					  FXAS21002C_REG_CTRL_REG0,
+					  FXAS21002C_SCALE_MASK, i);
+	}
+
+	return ret;
+}
+
+static IIO_CONST_ATTR(anglevel_scale_available,
+		      "0.001090831 "  /* 62.5    mdps */
+		      "0.000545415 "  /* 31.25   mdps */
+		      "0.000272708 "  /* 15.625  mdps */
+		      "0.000136354"); /*  7.8125 mdps */
+
+static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("800 400 200 100 50 25 12.5");
+
+static struct attribute *fxas21002c_attributes[] = {
+	&iio_const_attr_anglevel_scale_available.dev_attr.attr,
+	&iio_const_attr_sampling_frequency_available.dev_attr.attr,
+	NULL
+};
+
+static const struct attribute_group fxas21002c_attribute_group = {
+	.attrs = fxas21002c_attributes,
+};
+
 static const struct iio_info fxas21002c_info = {
 	.read_raw		= fxas21002c_read_raw,
+	.write_raw              = fxas21002c_write_raw,
+	.attrs                  = &fxas21002c_attribute_group,
 };
 
 static int fxas21002c_probe(struct i2c_client *client,
