diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
index 60bb1029e759..63036cf473c7 100644
--- a/drivers/iio/imu/Kconfig
+++ b/drivers/iio/imu/Kconfig
@@ -85,6 +85,7 @@ endmenu
 
 config IIO_ADIS_LIB
 	tristate
+	depends on GPIOLIB
 	help
 	  A set of IO helper functions for the Analog Devices ADIS* device family.
 
diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c
index d02b1911b0f2..1eca5271380e 100644
--- a/drivers/iio/imu/adis.c
+++ b/drivers/iio/imu/adis.c
@@ -7,6 +7,7 @@
  */
 
 #include <linux/delay.h>
+#include <linux/gpio/consumer.h>
 #include <linux/mutex.h>
 #include <linux/device.h>
 #include <linux/kernel.h>
@@ -365,36 +366,64 @@ static int adis_self_test(struct adis *adis)
 }
 
 /**
- * adis_inital_startup() - Performs device self-test
+ * __adis_initial_startup() - Device initial setup
  * @adis: The adis device
  *
+ * This functions makes sure the device is not in reset, via rst pin.
+ * Furthermore it performs a SW reset (only in the case we are not coming from
+ * reset already) and a self test. It also compares the product id with the
+ * device id if the prod_id_reg variable is set.
+ *
  * Returns 0 if the device is operational, a negative error code otherwise.
  *
  * This function should be called early on in the device initialization sequence
  * to ensure that the device is in a sane and known state and that it is usable.
  */
-int adis_initial_startup(struct adis *adis)
+int __adis_initial_startup(struct adis *adis)
 {
 	int ret;
-
-	mutex_lock(&adis->state_lock);
+	struct gpio_desc *gpio;
+	const struct adis_timeout *timeouts = adis->data->timeouts;
+	const char *iio_name = spi_get_device_id(adis->spi)->name;
+	u16 prod_id, dev_id;
+
+	/* check if the device has rst pin low */
+	gpio = devm_gpiod_get_optional(&adis->spi->dev, "reset", GPIOD_ASIS);
+	if (IS_ERR(gpio)) {
+		return PTR_ERR(gpio);
+	} else if (gpio && gpiod_get_value_cansleep(gpio)) {
+		/* bring device out of reset */
+		gpiod_set_value_cansleep(gpio, 0);
+		msleep(timeouts->reset_ms);
+	} else {
+		ret = __adis_reset(adis);
+		if (ret)
+			return ret;
+	}
 
 	ret = adis_self_test(adis);
-	if (ret) {
-		dev_err(&adis->spi->dev, "Self-test failed, trying reset.\n");
-		__adis_reset(adis);
-		ret = adis_self_test(adis);
-		if (ret) {
-			dev_err(&adis->spi->dev, "Second self-test failed, giving up.\n");
-			goto out_unlock;
-		}
-	}
+	if (ret)
+		return ret;
 
-out_unlock:
-	mutex_unlock(&adis->state_lock);
-	return ret;
+	if (!adis->data->prod_id_reg)
+		return 0;
+
+	ret = adis_read_reg_16(adis, adis->data->prod_id_reg, &prod_id);
+	if (ret)
+		return ret;
+
+	ret = sscanf(iio_name, "adis%hu\n", &dev_id);
+	if (ret != 1)
+		return -EINVAL;
+
+	if (prod_id != dev_id)
+		dev_warn(&adis->spi->dev,
+			 "Device ID(%u) and product ID(%u) do not match.",
+			 dev_id, prod_id);
+
+	return 0;
 }
-EXPORT_SYMBOL_GPL(adis_initial_startup);
+EXPORT_SYMBOL_GPL(__adis_initial_startup);
 
 /**
  * adis_single_conversion() - Performs a single sample conversion
diff --git a/include/linux/iio/imu/adis.h b/include/linux/iio/imu/adis.h
index d21a013d1122..c43e7922ab32 100644
--- a/include/linux/iio/imu/adis.h
+++ b/include/linux/iio/imu/adis.h
@@ -41,6 +41,7 @@ struct adis_timeout {
  * @glob_cmd_reg: Register address of the GLOB_CMD register
  * @msc_ctrl_reg: Register address of the MSC_CTRL register
  * @diag_stat_reg: Register address of the DIAG_STAT register
+ * @prod_id_reg: Register address of the PROD_ID register
  * @self_test_reg: Register address to request self test command
  * @status_error_msgs: Array of error messgaes
  * @status_error_mask:
@@ -54,6 +55,7 @@ struct adis_data {
 	unsigned int glob_cmd_reg;
 	unsigned int msc_ctrl_reg;
 	unsigned int diag_stat_reg;
+	unsigned int prod_id_reg;
 
 	unsigned int self_test_mask;
 	unsigned int self_test_reg;
@@ -299,6 +301,7 @@ static inline int adis_read_reg_32(struct adis *adis, unsigned int reg,
 
 int adis_enable_irq(struct adis *adis, bool enable);
 int __adis_check_status(struct adis *adis);
+int __adis_initial_startup(struct adis *adis);
 
 static inline int adis_check_status(struct adis *adis)
 {
@@ -311,7 +314,17 @@ static inline int adis_check_status(struct adis *adis)
 	return ret;
 }
 
-int adis_initial_startup(struct adis *adis);
+/* locked version of __adis_initial_startup() */
+static inline int adis_initial_startup(struct adis *adis)
+{
+	int ret;
+
+	mutex_lock(&adis->state_lock);
+	ret = __adis_initial_startup(adis);
+	mutex_unlock(&adis->state_lock);
+
+	return ret;
+}
 
 int adis_single_conversion(struct iio_dev *indio_dev,
 	const struct iio_chan_spec *chan, unsigned int error_mask,
