diff --git a/drivers/iio/counter/Kconfig b/drivers/iio/counter/Kconfig
index bf1e559ad7cd..4641cb2e752a 100644
--- a/drivers/iio/counter/Kconfig
+++ b/drivers/iio/counter/Kconfig
@@ -31,4 +31,14 @@ config STM32_LPTIMER_CNT
 
 	  To compile this driver as a module, choose M here: the
 	  module will be called stm32-lptimer-cnt.
+
+config FTM_QUADDEC
+	tristate "Flex Timer Module Quadrature decoder driver"
+	help
+	  Select this option to enable the Flex Timer Quadrature decoder
+	  driver.
+
+	  To compile this driver as a module, choose M here: the
+	  module will be called ftm-quaddec.
+
 endmenu
diff --git a/drivers/iio/counter/Makefile b/drivers/iio/counter/Makefile
index 1b9a896eb488..757c1f4196af 100644
--- a/drivers/iio/counter/Makefile
+++ b/drivers/iio/counter/Makefile
@@ -6,3 +6,4 @@
 
 obj-$(CONFIG_104_QUAD_8)	+= 104-quad-8.o
 obj-$(CONFIG_STM32_LPTIMER_CNT)	+= stm32-lptimer-cnt.o
+obj-$(CONFIG_FTM_QUADDEC)	+= ftm-quaddec.o
diff --git a/drivers/iio/counter/ftm-quaddec.c b/drivers/iio/counter/ftm-quaddec.c
new file mode 100644
index 000000000000..ca7e55a9ab3f
--- /dev/null
+++ b/drivers/iio/counter/ftm-quaddec.c
@@ -0,0 +1,294 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Flex Timer Module Quadrature decoder
+ *
+ * This module implements a driver for decoding the FTM quadrature
+ * of ex. a LS1021A
+ */
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/err.h>
+#include <linux/device.h>
+#include <linux/platform_device.h>
+#include <linux/of.h>
+#include <linux/of_device.h>
+#include <linux/of_address.h>
+#include <linux/of_irq.h>
+#include <linux/workqueue.h>
+#include <linux/swait.h>
+#include <linux/sched.h>
+#include <linux/delay.h>
+#include <linux/iio/iio.h>
+#include <linux/mutex.h>
+#include <linux/fsl/ftm.h>
+
+struct ftm_quaddec {
+	struct platform_device *pdev;
+	void __iomem *ftm_base;
+	bool big_endian;
+	struct mutex ftm_quaddec_mutex;
+};
+
+#define HASFLAGS(flag, bits) ((flag & bits) ? 1 : 0)
+
+#define DEFAULT_POLL_INTERVAL    100 /* in msec */
+
+static void ftm_read(struct ftm_quaddec *ftm, uint32_t offset, uint32_t *data)
+{
+	if (ftm->big_endian)
+		*data = ioread32be(ftm->ftm_base + offset);
+	else
+		*data = ioread32(ftm->ftm_base + offset);
+}
+
+static void ftm_write(struct ftm_quaddec *ftm, uint32_t offset, uint32_t data)
+{
+	if (ftm->big_endian)
+		iowrite32be(data, ftm->ftm_base + offset);
+	else
+		iowrite32(data, ftm->ftm_base + offset);
+}
+
+/* take mutex
+ * call ftm_clear_write_protection
+ * update settings
+ * call ftm_set_write_protection
+ * release mutex
+ */
+static void ftm_clear_write_protection(struct ftm_quaddec *ftm)
+{
+	uint32_t flag;
+
+	/* First see if it is enabled */
+	ftm_read(ftm, FTM_FMS, &flag);
+
+	if (flag & FTM_FMS_WPEN) {
+		ftm_read(ftm, FTM_MODE, &flag);
+		ftm_write(ftm, FTM_MODE, flag | FTM_MODE_WPDIS);
+	}
+}
+
+static void ftm_set_write_protection(struct ftm_quaddec *ftm)
+{
+	ftm_write(ftm, FTM_FMS, FTM_FMS_WPEN);
+}
+
+static void ftm_reset_counter(struct ftm_quaddec *ftm)
+{
+	/* Reset hardware counter to CNTIN */
+	ftm_write(ftm, FTM_CNT, 0x0);
+}
+
+static void ftm_quaddec_init(struct ftm_quaddec *ftm)
+{
+	ftm_clear_write_protection(ftm);
+
+	/* Do not write in the region from the CNTIN register through the
+	 * PWMLOAD register when FTMEN = 0.
+	 */
+	ftm_write(ftm, FTM_MODE, FTM_MODE_FTMEN); /* enable FTM */
+	ftm_write(ftm, FTM_CNTIN, 0x0000);         /* zero init value */
+	ftm_write(ftm, FTM_MOD, 0xffff);        /* max overflow value */
+	ftm_write(ftm, FTM_CNT, 0x0);           /* reset counter value */
+	ftm_write(ftm, FTM_SC, FTM_SC_PS_1);    /* prescale with x1 */
+	/* Select quad mode */
+	ftm_write(ftm, FTM_QDCTRL, FTM_QDCTRL_QUADEN);
+
+	/* Unused features and reset to default section */
+	ftm_write(ftm, FTM_POL, 0x0);     /* polarity is active high */
+	ftm_write(ftm, FTM_FLTCTRL, 0x0); /* all faults disabled */
+	ftm_write(ftm, FTM_SYNCONF, 0x0); /* disable all sync */
+	ftm_write(ftm, FTM_SYNC, 0xffff);
+
+	/* Lock the FTM */
+	ftm_set_write_protection(ftm);
+}
+
+static int ftm_quaddec_read_raw(struct iio_dev *indio_dev,
+				struct iio_chan_spec const *chan,
+				int *val, int *val2, long mask)
+{
+	struct ftm_quaddec *ftm = iio_priv(indio_dev);
+	uint32_t counter;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		ftm_read(ftm, FTM_CNT, &counter);
+		*val = counter;
+		return IIO_VAL_INT;
+	default:
+		return -EINVAL;
+	}
+}
+
+static ssize_t ftm_write_reset(struct iio_dev *indio_dev,
+				uintptr_t private,
+				struct iio_chan_spec const *chan,
+				const char *buf, size_t len)
+{
+	struct ftm_quaddec *ftm = iio_priv(indio_dev);
+
+	/* Only "counter reset" is supported for now */
+	if (!sysfs_streq(buf, "0")) {
+		dev_warn(&ftm->pdev->dev, "Reset only accepts '0'\n");
+		return -EINVAL;
+	}
+
+	ftm_reset_counter(ftm);
+
+	return len;
+}
+
+static int ftm_quaddec_get_prescaler(struct iio_dev *indio_dev,
+					const struct iio_chan_spec *chan)
+{
+	struct ftm_quaddec *ftm = iio_priv(indio_dev);
+	uint32_t scflags;
+
+	ftm_read(ftm, FTM_SC, &scflags);
+
+	return scflags & FTM_SC_PS_MASK;
+}
+
+static int ftm_quaddec_set_prescaler(struct iio_dev *indio_dev,
+					const struct iio_chan_spec *chan,
+					unsigned int type)
+{
+	struct ftm_quaddec *ftm = iio_priv(indio_dev);
+
+	uint32_t scflags;
+
+	mutex_lock(&ftm->ftm_quaddec_mutex);
+
+	ftm_read(ftm, FTM_SC, &scflags);
+
+	scflags &= ~FTM_SC_PS_MASK;
+	type &= FTM_SC_PS_MASK; /*just to be 100% sure*/
+
+	scflags |= type;
+
+	/* Write */
+	ftm_clear_write_protection(ftm);
+	ftm_write(ftm, FTM_SC, scflags);
+	ftm_set_write_protection(ftm);
+
+	/* Also resets the counter as it is undefined anyway now */
+	ftm_reset_counter(ftm);
+
+	mutex_unlock(&ftm->ftm_quaddec_mutex);
+	return 0;
+}
+
+static const char * const ftm_quaddec_prescaler[] = {
+	"1", "2", "4", "8", "16", "32", "64", "128"
+};
+
+static const struct iio_enum ftm_quaddec_prescaler_en = {
+	.items = ftm_quaddec_prescaler,
+	.num_items = ARRAY_SIZE(ftm_quaddec_prescaler),
+	.get = ftm_quaddec_get_prescaler,
+	.set = ftm_quaddec_set_prescaler,
+};
+
+static const struct iio_chan_spec_ext_info ftm_quaddec_ext_info[] = {
+	{
+		.name = "reset",
+		.shared = IIO_SEPARATE,
+		.write = ftm_write_reset,
+	},
+	IIO_ENUM("prescaler", IIO_SEPARATE, &ftm_quaddec_prescaler_en),
+	IIO_ENUM_AVAILABLE("prescaler", &ftm_quaddec_prescaler_en),
+	{}
+};
+
+static const struct iio_chan_spec ftm_quaddec_channels = {
+	.type = IIO_COUNT,
+	.channel = 0,
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+	.ext_info = ftm_quaddec_ext_info,
+	.indexed = 1,
+};
+
+static const struct iio_info ftm_quaddec_iio_info = {
+	.read_raw = ftm_quaddec_read_raw,
+};
+
+static int ftm_quaddec_probe(struct platform_device *pdev)
+{
+	struct iio_dev *indio_dev;
+	struct ftm_quaddec *ftm;
+	int ret;
+
+	struct device_node *node = pdev->dev.of_node;
+
+	indio_dev = devm_iio_device_alloc(&pdev->dev, sizeof(*ftm));
+	if (!indio_dev)
+		return -ENOMEM;
+
+	ftm = iio_priv(indio_dev);
+
+	platform_set_drvdata(pdev, ftm);
+
+	ftm->pdev = pdev;
+	ftm->big_endian = of_property_read_bool(node, "big-endian");
+	ftm->ftm_base = of_iomap(node, 0);
+	if (!ftm->ftm_base)
+		return -EINVAL;
+
+	indio_dev->name = dev_name(&pdev->dev);
+	indio_dev->dev.parent = &pdev->dev;
+	indio_dev->info = &ftm_quaddec_iio_info;
+	indio_dev->num_channels = 1;
+	indio_dev->channels = &ftm_quaddec_channels;
+
+	ftm_quaddec_init(ftm);
+
+	mutex_init(&ftm->ftm_quaddec_mutex);
+
+	ret = devm_iio_device_register(&pdev->dev, indio_dev);
+	if (ret) {
+		mutex_destroy(&ftm->ftm_quaddec_mutex);
+		iounmap(ftm->ftm_base);
+	}
+	return ret;
+}
+
+static int ftm_quaddec_remove(struct platform_device *pdev)
+{
+	struct ftm_quaddec *ftm;
+	struct iio_dev *indio_dev;
+
+	ftm = (struct ftm_quaddec *)platform_get_drvdata(pdev);
+	indio_dev = iio_priv_to_dev(ftm);
+	/* This is needed to remove sysfs entries */
+	devm_iio_device_unregister(&pdev->dev, indio_dev);
+
+	ftm_write(ftm, FTM_MODE, 0);
+
+	iounmap(ftm->ftm_base);
+	mutex_destroy(&ftm->ftm_quaddec_mutex);
+
+	return 0;
+}
+
+static const struct of_device_id ftm_quaddec_match[] = {
+	{ .compatible = "fsl,ftm-quaddec" },
+	{},
+};
+
+static struct platform_driver ftm_quaddec_driver = {
+	.driver = {
+		.name = "ftm-quaddec",
+		.owner = THIS_MODULE,
+		.of_match_table = ftm_quaddec_match,
+	},
+	.probe = ftm_quaddec_probe,
+	.remove = ftm_quaddec_remove,
+};
+
+module_platform_driver(ftm_quaddec_driver);
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR("Kjeld Flarup <kfa@deif.com");
+MODULE_AUTHOR("Patrick Havelange <patrick.havelange@essensium.com");
