diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
index dfe86c589325..c41b8ef1e250 100644
--- a/drivers/iio/imu/adis16480.c
+++ b/drivers/iio/imu/adis16480.c
@@ -10,6 +10,7 @@
 #include <linux/of_irq.h>
 #include <linux/interrupt.h>
 #include <linux/delay.h>
+#include <linux/math.h>
 #include <linux/mutex.h>
 #include <linux/device.h>
 #include <linux/kernel.h>
@@ -17,6 +18,7 @@
 #include <linux/slab.h>
 #include <linux/sysfs.h>
 #include <linux/module.h>
+#include <linux/lcm.h>
 
 #include <linux/iio/iio.h>
 #include <linux/iio/sysfs.h>
@@ -170,6 +172,11 @@ static const char * const adis16480_int_pin_names[4] = {
 	[ADIS16480_PIN_DIO4] = "DIO4",
 };
 
+static bool low_rate_allow;
+module_param(low_rate_allow, bool, 0444);
+MODULE_PARM_DESC(low_rate_allow,
+		 "Allow IMU rates below the minimum advisable when external clk is used in PPS mode (default: N)");
+
 #ifdef CONFIG_DEBUG_FS
 
 static ssize_t adis16480_show_firmware_revision(struct file *file,
@@ -312,7 +319,8 @@ static int adis16480_debugfs_init(struct iio_dev *indio_dev)
 static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2)
 {
 	struct adis16480 *st = iio_priv(indio_dev);
-	unsigned int t, reg;
+	unsigned int t, sample_rate = st->clk_freq;
+	int ret;
 
 	if (val < 0 || val2 < 0)
 		return -EINVAL;
@@ -321,28 +329,65 @@ static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2)
 	if (t == 0)
 		return -EINVAL;
 
+	mutex_lock(&st->adis.state_lock);
 	/*
-	 * When using PPS mode, the rate of data collection is equal to the
-	 * product of the external clock frequency and the scale factor in the
-	 * SYNC_SCALE register.
-	 * When using sync mode, or internal clock, the output data rate is
-	 * equal with  the clock frequency divided by DEC_RATE + 1.
+	 * When using PPS mode, the input clock needs to be scaled so that we have an IMU
+	 * sample rate between (optimally) 4000 and 4250. After this, we can use the
+	 * decimation filter to lower the sampling rate in order to get what the user wants.
+	 * Optimally, the user sample rate is a multiple of both the IMU sample rate and
+	 * the input clock. Hence, calculating the sync_scale dynamically gives us better
+	 * chances of achieving a perfect/integer value for DEC_RATE. The math here is:
+	 *	1. lcm of the input clock and the desired output rate.
+	 *	2. get the highest multiple of the previous result lower than the adis max rate.
+	 *	3. The last result becomes the IMU sample rate. Use that to calculate SYNC_SCALE
+	 *	   and DEC_RATE (to get the user output rate)
 	 */
 	if (st->clk_mode == ADIS16480_CLK_PPS) {
-		t = t / st->clk_freq;
-		reg = ADIS16495_REG_SYNC_SCALE;
-	} else {
-		t = st->clk_freq / t;
-		reg = ADIS16480_REG_DEC_RATE;
+		unsigned long scaled_rate = lcm(st->clk_freq, t);
+		int sync_scale;
+
+		/*
+		 * If lcm is bigger than the IMU maximum sampling rate there's no perfect
+		 * solution. In this case, we get the highest multiple of the input clock
+		 * lower than the IMU max sample rate.
+		 */
+		if (scaled_rate > st->chip_info->int_clk)
+			scaled_rate = st->chip_info->int_clk / st->clk_freq * st->clk_freq;
+		else
+			scaled_rate = st->chip_info->int_clk / scaled_rate * scaled_rate;
+
+		/*
+		 * This is not an hard requirement but it's not advised to run the IMU
+		 * with a sample rate lower than 4000Hz due to possible undersampling
+		 * issues. However, there are users that might really want to take the risk.
+		 * Hence, we provide a module parameter for them. If set, we allow sample
+		 * rates lower than 4KHz. By default, we won't allow this and we just roundup
+		 * the rate to the next multiple of the input clock bigger than 4KHz. This
+		 * is done like this as in some cases (when DEC_RATE is 0) might give
+		 * us the closest value to the one desired by the user...
+		 */
+		if (scaled_rate < 4000000 && !low_rate_allow)
+			scaled_rate = roundup(4000000, st->clk_freq);
+
+		sync_scale = scaled_rate / st->clk_freq;
+		ret = __adis_write_reg_16(&st->adis, ADIS16495_REG_SYNC_SCALE, sync_scale);
+		if (ret)
+			goto error;
+
+		sample_rate = scaled_rate;
 	}
 
+	t = DIV_ROUND_CLOSEST(sample_rate, t);
+	if (t)
+		t--;
+
 	if (t > st->chip_info->max_dec_rate)
 		t = st->chip_info->max_dec_rate;
 
-	if ((t != 0) && (st->clk_mode != ADIS16480_CLK_PPS))
-		t--;
-
-	return adis_write_reg_16(&st->adis, reg, t);
+	ret = __adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t);
+error:
+	mutex_unlock(&st->adis.state_lock);
+	return ret;
 }
 
 static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
@@ -350,34 +395,35 @@ static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
 	struct adis16480 *st = iio_priv(indio_dev);
 	uint16_t t;
 	int ret;
-	unsigned int freq;
-	unsigned int reg;
+	unsigned int freq, sample_rate = st->clk_freq;
 
-	if (st->clk_mode == ADIS16480_CLK_PPS)
-		reg = ADIS16495_REG_SYNC_SCALE;
-	else
-		reg = ADIS16480_REG_DEC_RATE;
+	mutex_lock(&st->adis.state_lock);
+
+	if (st->clk_mode == ADIS16480_CLK_PPS) {
+		u16 sync_scale;
+
+		ret = __adis_read_reg_16(&st->adis, ADIS16495_REG_SYNC_SCALE, &sync_scale);
+		if (ret)
+			goto error;
 
-	ret = adis_read_reg_16(&st->adis, reg, &t);
+		sample_rate = st->clk_freq * sync_scale;
+	}
+
+	ret = __adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t);
 	if (ret)
-		return ret;
+		goto error;
 
-	/*
-	 * When using PPS mode, the rate of data collection is equal to the
-	 * product of the external clock frequency and the scale factor in the
-	 * SYNC_SCALE register.
-	 * When using sync mode, or internal clock, the output data rate is
-	 * equal with  the clock frequency divided by DEC_RATE + 1.
-	 */
-	if (st->clk_mode == ADIS16480_CLK_PPS)
-		freq = st->clk_freq * t;
-	else
-		freq = st->clk_freq / (t + 1);
+	mutex_unlock(&st->adis.state_lock);
+
+	freq = DIV_ROUND_CLOSEST(sample_rate, (t + 1));
 
 	*val = freq / 1000;
 	*val2 = (freq % 1000) * 1000;
 
 	return IIO_VAL_INT_PLUS_MICRO;
+error:
+	mutex_unlock(&st->adis.state_lock);
+	return ret;
 }
 
 enum {
@@ -1278,6 +1324,20 @@ static int adis16480_probe(struct spi_device *spi)
 
 		st->clk_freq = clk_get_rate(st->ext_clk);
 		st->clk_freq *= 1000; /* micro */
+		if (st->clk_mode == ADIS16480_CLK_PPS) {
+			u16 sync_scale;
+
+			/*
+			 * In PPS mode, the IMU sample rate is the clk_freq * sync_scale. Hence,
+			 * default the IMU sample rate to the highest multiple of the input clock
+			 * lower than the IMU max sample rate. The internal sample rate is the
+			 * max...
+			 */
+			sync_scale = st->chip_info->int_clk / st->clk_freq;
+			ret = __adis_write_reg_16(&st->adis, ADIS16495_REG_SYNC_SCALE, sync_scale);
+			if (ret)
+				return ret;
+		}
 	} else {
 		st->clk_freq = st->chip_info->int_clk;
 	}
