diff --git a/drivers/iio/resolver/ad2s1210.c b/drivers/iio/resolver/ad2s1210.c
index 1bd1b950e7cc..e6d3f31d529f 100644
--- a/drivers/iio/resolver/ad2s1210.c
+++ b/drivers/iio/resolver/ad2s1210.c
@@ -141,7 +141,7 @@ struct ad2s1210_state {
 	struct spi_device *sdev;
 	/** GPIO pin connected to SAMPLE line. */
 	struct gpio_desc *sample_gpio;
-	/** GPIO pins connected to A0 and A1 lines. */
+	/** GPIO pins connected to A0 and A1 lines (optional). */
 	struct gpio_descs *mode_gpios;
 	/** Used to access config registers. */
 	struct regmap *regmap;
@@ -149,6 +149,8 @@ struct ad2s1210_state {
 	unsigned long clkin_hz;
 	/** Available raw hysteresis values based on resolution. */
 	int hysteresis_available[2];
+	/* adi,fixed-mode property - only valid when mode_gpios == NULL. */
+	enum ad2s1210_mode fixed_mode;
 	/** The selected resolution */
 	enum ad2s1210_resolution resolution;
 	/** Copy of fault register from the previous read. */
@@ -175,6 +177,9 @@ static int ad2s1210_set_mode(struct ad2s1210_state *st, enum ad2s1210_mode mode)
 	struct gpio_descs *gpios = st->mode_gpios;
 	DECLARE_BITMAP(bitmap, 2);
 
+	if (!gpios)
+		return mode == st->fixed_mode ? 0 : -EOPNOTSUPP;
+
 	bitmap[0] = mode;
 
 	return gpiod_set_array_value(gpios->ndescs, gpios->desc, gpios->info,
@@ -276,7 +281,8 @@ static int ad2s1210_regmap_reg_read(void *context, unsigned int reg,
 	 * parity error. The fault register is read-only and the D7 bit means
 	 * something else there.
 	 */
-	if (reg != AD2S1210_REG_FAULT && st->rx[1] & AD2S1210_ADDRESS_DATA)
+	if ((reg > AD2S1210_REG_VELOCITY_LSB && reg != AD2S1210_REG_FAULT)
+	     && st->rx[1] & AD2S1210_ADDRESS_DATA)
 		return -EBADMSG;
 
 	*val = st->rx[1];
@@ -437,6 +443,40 @@ static void ad2s1210_push_events(struct iio_dev *indio_dev,
 	st->prev_fault_flags = flags;
 }
 
+/**
+ * Reads position or velocity from the config registers.
+ *
+ * This is used when the mode gpios are not available.
+ *
+ * Must be called with the lock held.
+ *
+ * @param st The device state.
+ * @param val Pointer to hold the value read.
+ * @param msb_reg The register address of the MSB register.
+ * @param lsb_reg The register address of the LSB register.
+ * @return 0 on success, negative error code otherwise.
+ */
+static int ad2s1210_read_val_from_config(struct ad2s1210_state *st, __be16 *val,
+					 u8 msb_reg, u8 lsb_reg)
+{
+	unsigned int reg_val;
+	int ret;
+
+	ret = regmap_read(st->regmap, msb_reg, &reg_val);
+	if (ret < 0)
+		return ret;
+
+	((u8 *)val)[0] = reg_val;
+
+	ret = regmap_read(st->regmap, lsb_reg, &reg_val);
+	if (ret < 0)
+		return ret;
+
+	((u8 *)val)[1] = reg_val;
+
+	return 0;
+}
+
 static int ad2s1210_single_conversion(struct iio_dev *indio_dev,
 				      struct iio_chan_spec const *chan,
 				      int *val)
@@ -450,21 +490,53 @@ static int ad2s1210_single_conversion(struct iio_dev *indio_dev,
 	ad2s1210_toggle_sample_line(st);
 	timestamp = iio_get_time_ns(indio_dev);
 
-	switch (chan->type) {
-	case IIO_ANGL:
-		ret = ad2s1210_set_mode(st, MOD_POS);
-		break;
-	case IIO_ANGL_VEL:
-		ret = ad2s1210_set_mode(st, MOD_VEL);
-		break;
-	default:
-		return -EINVAL;
+	if (st->fixed_mode == MOD_CONFIG) {
+		unsigned int reg_val;
+
+		switch (chan->type) {
+		case IIO_ANGL:
+			ret = ad2s1210_read_val_from_config(st, &st->sample.raw,
+						AD2S1210_REG_POSITION_MSB,
+						AD2S1210_REG_POSITION_LSB);
+			if (ret < 0)
+				return ret;
+
+			break;
+		case IIO_ANGL_VEL:
+			ret = ad2s1210_read_val_from_config(st, &st->sample.raw,
+						AD2S1210_REG_VELOCITY_MSB,
+						AD2S1210_REG_VELOCITY_LSB);
+			if (ret < 0)
+				return ret;
+
+			break;
+		default:
+			return -EINVAL;
+		}
+
+		ret = regmap_read(st->regmap, AD2S1210_REG_FAULT, &reg_val);
+		if (ret < 0)
+			return ret;
+
+		st->sample.fault = reg_val;
+	} else {
+		switch (chan->type) {
+		case IIO_ANGL:
+			ret = ad2s1210_set_mode(st, MOD_POS);
+			break;
+		case IIO_ANGL_VEL:
+			ret = ad2s1210_set_mode(st, MOD_VEL);
+			break;
+		default:
+			return -EINVAL;
+		}
+		if (ret < 0)
+			return ret;
+
+		ret = spi_read(st->sdev, &st->sample, 3);
+		if (ret < 0)
+			return ret;
 	}
-	if (ret < 0)
-		return ret;
-	ret = spi_read(st->sdev, &st->sample, 3);
-	if (ret < 0)
-		return ret;
 
 	switch (chan->type) {
 	case IIO_ANGL:
@@ -1252,27 +1324,53 @@ static irqreturn_t ad2s1210_trigger_handler(int irq, void *p)
 	ad2s1210_toggle_sample_line(st);
 
 	if (test_bit(0, indio_dev->active_scan_mask)) {
-		ret = ad2s1210_set_mode(st, MOD_POS);
-		if (ret < 0)
-			goto error_ret;
-
-		ret = spi_read(st->sdev, &st->sample, 3);
-		if (ret < 0)
-			goto error_ret;
+		if (st->fixed_mode == MOD_CONFIG) {
+			ret = ad2s1210_read_val_from_config(st, &st->sample.raw,
+						AD2S1210_REG_POSITION_MSB,
+						AD2S1210_REG_POSITION_LSB);
+			if (ret < 0)
+				goto error_ret;
+		} else {
+			ret = ad2s1210_set_mode(st, MOD_POS);
+			if (ret < 0)
+				goto error_ret;
+
+			ret = spi_read(st->sdev, &st->sample, 3);
+			if (ret < 0)
+				goto error_ret;
+		}
 
 		memcpy(&st->scan.chan[chan++], &st->sample.raw, 2);
 	}
 
 	if (test_bit(1, indio_dev->active_scan_mask)) {
-		ret = ad2s1210_set_mode(st, MOD_VEL);
-		if (ret < 0)
-			goto error_ret;
+		if (st->fixed_mode == MOD_CONFIG) {
+			ret = ad2s1210_read_val_from_config(st, &st->sample.raw,
+						AD2S1210_REG_VELOCITY_MSB,
+						AD2S1210_REG_VELOCITY_LSB);
+			if (ret < 0)
+				goto error_ret;
+		} else {
+			ret = ad2s1210_set_mode(st, MOD_VEL);
+			if (ret < 0)
+				goto error_ret;
+
+			ret = spi_read(st->sdev, &st->sample, 3);
+			if (ret < 0)
+				goto error_ret;
+		}
 
-		ret = spi_read(st->sdev, &st->sample, 3);
+		memcpy(&st->scan.chan[chan++], &st->sample.raw, 2);
+	}
+
+	if (st->fixed_mode == MOD_CONFIG) {
+		unsigned int reg_val;
+
+		ret = regmap_read(st->regmap, AD2S1210_REG_FAULT, &reg_val);
 		if (ret < 0)
-			goto error_ret;
+			return ret;
 
-		memcpy(&st->scan.chan[chan++], &st->sample.raw, 2);
+		st->sample.fault = reg_val;
 	}
 
 	ad2s1210_push_events(indio_dev, st->sample.fault, pf->timestamp);
@@ -1299,9 +1397,33 @@ static const struct iio_info ad2s1210_info = {
 static int ad2s1210_setup_properties(struct ad2s1210_state *st)
 {
 	struct device *dev = &st->sdev->dev;
+	const char *str_val;
 	u32 val;
 	int ret;
 
+	ret = device_property_read_string(dev, "adi,fixed-mode", &str_val);
+	if (ret == -EINVAL)
+		st->fixed_mode = -1;
+	else if (ret < 0)
+		return dev_err_probe(dev, ret,
+			"failed to read adi,fixed-mode property\n");
+	else {
+		if (strcmp(str_val, "position") == 0)
+			st->fixed_mode = MOD_POS;
+		else if (strcmp(str_val, "velocity") == 0)
+			st->fixed_mode = MOD_VEL;
+		else if (strcmp(str_val, "config") == 0)
+			st->fixed_mode = MOD_CONFIG;
+		else
+			return dev_err_probe(dev, -EINVAL,
+				"invalid adi,fixed-mode property value: %s\n",
+				str_val);
+
+		if (st->fixed_mode != MOD_CONFIG)
+			return dev_err_probe(dev, -EINVAL,
+				"only adi,fixed-mode=\"config\" is supported\n");
+	}
+
 	ret = device_property_read_u32(dev, "assigned-resolution-bits", &val);
 	if (ret < 0)
 		return dev_err_probe(dev, ret,
@@ -1357,12 +1479,21 @@ static int ad2s1210_setup_gpios(struct ad2s1210_state *st)
 				     "failed to request sample GPIO\n");
 
 	/* both pins high means that we start in config mode */
-	st->mode_gpios = devm_gpiod_get_array(dev, "mode", GPIOD_OUT_HIGH);
+	st->mode_gpios = devm_gpiod_get_array_optional(dev, "mode",
+						       GPIOD_OUT_HIGH);
 	if (IS_ERR(st->mode_gpios))
 		return dev_err_probe(dev, PTR_ERR(st->mode_gpios),
 				     "failed to request mode GPIOs\n");
 
-	if (st->mode_gpios->ndescs != 2)
+	if (!st->mode_gpios && st->fixed_mode == -1)
+		return dev_err_probe(dev, -EINVAL,
+			"must specify either adi,fixed-mode or mode-gpios\n");
+
+	if (st->mode_gpios && st->fixed_mode != -1)
+		return dev_err_probe(dev, -EINVAL,
+			"must specify only one of adi,fixed-mode or mode-gpios\n");
+
+	if (st->mode_gpios && st->mode_gpios->ndescs != 2)
 		return dev_err_probe(dev, -EINVAL,
 				     "requires exactly 2 mode-gpios\n");
 
