diff --git a/drivers/iio/accel/adxl367.c b/drivers/iio/accel/adxl367.c
index 90b7ae6d42b7..95fd365c0a27 100644
--- a/drivers/iio/accel/adxl367.c
+++ b/drivers/iio/accel/adxl367.c
@@ -14,6 +14,7 @@
 #include <linux/interrupt.h>
 #include <linux/irq.h>
 #include <linux/mod_devicetable.h>
+#include <linux/property.h>
 #include <linux/regmap.h>
 #include <linux/regulator/consumer.h>
 #include <asm/unaligned.h>
@@ -96,8 +97,17 @@
 #define ADXL367_POWER_CTL_MODE_MASK	GENMASK(1, 0)
 
 #define ADXL367_REG_ADC_CTL		0x3C
-#define ADXL367_REG_TEMP_CTL		0x3D
 #define ADXL367_ADC_EN_MASK		BIT(0)
+#define ADXL367_REG_TEMP_CTL		0x3D
+#define ADXL367_NL_COMP_EN_MASK         BIT(7)
+
+#define ADXL367_REG_PEDOMETER_STEP_CNT_H        0x47
+#define ADXL367_REG_PEDOMETER_CTL               0x49
+#define ADXL367_PEDOMETER_RESET_STEP_MASK       BIT(2)
+#define ADXL367_PEDOMETER_RESET_OF_MASK         BIT(1)
+#define ADXL367_PEDOMETER_EN_MASK               BIT(0)
+#define ADXL367_REG_PEDOMETER_THRESH_H          0x4A
+#define ADXL367_REG_PEDOMETER_SENS_H            0x4C
 
 enum adxl367_range {
 	ADXL367_2G_RANGE,
@@ -177,6 +187,9 @@ struct adxl367_state {
 	unsigned int	fifo_set_size;
 	unsigned int	fifo_watermark;
 
+	int             steps_en;
+	int             nl_comp_en;
+
 	__be16		fifo_buf[ADXL367_FIFO_SIZE] __aligned(IIO_DMA_MINALIGN);
 	__be16		sample_buf;
 	u8		act_threshold_buf[2];
@@ -221,6 +234,13 @@ static const int adxl367_range_scale_factor_tbl[] = {
 	[ADXL367_8G_RANGE] = 4,
 };
 
+enum adxl367_attr_id {
+	ADXL367_PEDOMETER_THRESHOLD,
+	ADXL367_PEDOMETER_SENSITIVITY,
+	ADXL367_PEDOMETER_RESET,
+	ADXL367_Z_NONLINEARITY_COMPENSATION,
+};
+
 enum {
 	ADXL367_X_CHANNEL_INDEX,
 	ADXL367_Y_CHANNEL_INDEX,
@@ -745,6 +765,30 @@ static int adxl367_find_range(struct adxl367_state *st, int val, int val2,
 	return 0;
 }
 
+static int adxl367_read_word(struct adxl367_state *st, int reg, int *val)
+{
+	u8 steps_raw[2];
+	int ret;
+
+	ret = regmap_bulk_read(st->regmap, reg, steps_raw, 2);
+	if (ret)
+		return ret;
+
+	*val = get_unaligned_be16(steps_raw);
+
+	return 0;
+}
+
+static int adxl367_write_word(struct adxl367_state *st, int reg, int *val)
+{
+	u8 steps_raw[2];
+
+	put_unaligned_be16(*val, steps_raw);
+
+	return regmap_bulk_write(st->regmap, reg,
+				steps_raw, 2);
+}
+
 static int adxl367_read_sample(struct iio_dev *indio_dev,
 			       struct iio_chan_spec const *chan,
 			       int *val)
@@ -920,6 +964,17 @@ static int adxl367_read_raw(struct iio_dev *indio_dev,
 		*val2 = adxl367_samp_freq_tbl[st->odr][1];
 		mutex_unlock(&st->lock);
 		return IIO_VAL_INT_PLUS_MICRO;
+	case IIO_CHAN_INFO_PROCESSED:
+		switch (chan->type) {
+		case IIO_STEPS:
+			*val = st->nl_comp_en;
+			return IIO_VAL_INT;
+		default:
+			return -EINVAL;
+		}
+	case IIO_CHAN_INFO_ENABLE:
+		*val = st->steps_en;
+		return IIO_VAL_INT;
 	default:
 		return -EINVAL;
 	}
@@ -951,9 +1006,96 @@ static int adxl367_write_raw(struct iio_dev *indio_dev,
 
 		return adxl367_set_range(indio_dev, range);
 	}
+	case IIO_CHAN_INFO_ENABLE:
+		ret = regmap_update_bits(st->regmap, ADXL367_REG_PEDOMETER_CTL,
+					 ADXL367_PEDOMETER_EN_MASK,
+					 FIELD_PREP(ADXL367_PEDOMETER_EN_MASK, val ? 1 : 0));
+		if (ret)
+			return ret;
+
+		st->steps_en = val ? 1 : 0;
+
+		return 0;
+	default:
+		return -EINVAL;
+	}
+}
+
+static ssize_t adxl367_read_attr(struct iio_dev *indio_dev,
+				 uintptr_t private,
+				 const struct iio_chan_spec *chan,
+				 char *buf)
+{
+	struct adxl367_state *st = iio_priv(indio_dev);
+	int ret;
+	int val;
+
+	switch (private) {
+	case ADXL367_PEDOMETER_THRESHOLD:
+		ret = adxl367_read_word(st, ADXL367_REG_PEDOMETER_THRESH_H, &val);
+		break;
+	case ADXL367_PEDOMETER_SENSITIVITY:
+		ret = adxl367_read_word(st, ADXL367_REG_PEDOMETER_SENS_H, &val);
+		break;
+	case ADXL367_Z_NONLINEARITY_COMPENSATION:
+		ret = regmap_read(st->regmap, ADXL367_REG_TEMP_CTL, &val);
+		val = FIELD_GET(ADXL367_NL_COMP_EN_MASK, val);
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	if (ret)
+		return ret;
+
+	return sprintf(buf, "%d\n", val);
+}
+
+static ssize_t adxl367_write_attr(struct iio_dev *indio_dev,
+				  uintptr_t private,
+				  const struct iio_chan_spec *chan,
+				  const char *buf, size_t len)
+{
+	struct adxl367_state *st = iio_priv(indio_dev);
+	int ret = 0;
+	unsigned long value;
+	int val;
+
+	ret = kstrtoul(buf, 10, &value);
+	if (ret)
+		return ret;
+	val = value;
+
+	switch (private) {
+	case ADXL367_PEDOMETER_THRESHOLD:
+		ret = adxl367_write_word(st, ADXL367_REG_PEDOMETER_THRESH_H, &val);
+		break;
+	case ADXL367_PEDOMETER_SENSITIVITY:
+		ret = adxl367_write_word(st, ADXL367_REG_PEDOMETER_SENS_H, &val);
+		break;
+	case ADXL367_PEDOMETER_RESET:
+		if (val)
+			ret = regmap_update_bits(st->regmap, ADXL367_REG_PEDOMETER_CTL,
+						 ADXL367_PEDOMETER_RESET_STEP_MASK | ADXL367_PEDOMETER_RESET_OF_MASK,
+						 ADXL367_PEDOMETER_RESET_STEP_MASK | ADXL367_PEDOMETER_RESET_OF_MASK);
+		ret = regmap_update_bits(st->regmap, ADXL367_REG_PEDOMETER_CTL,
+					 ADXL367_PEDOMETER_RESET_STEP_MASK | ADXL367_PEDOMETER_RESET_OF_MASK,
+					 0);
+		break;
+	case ADXL367_Z_NONLINEARITY_COMPENSATION:
+		ret = regmap_update_bits(st->regmap, ADXL367_REG_TEMP_CTL,
+					 ADXL367_NL_COMP_EN_MASK,
+					 val ? ADXL367_NL_COMP_EN_MASK : 0);
+		if (ret)
+			return ret;
+
+		st->nl_comp_en = val ? 1 : 0;
+		break;
 	default:
 		return -EINVAL;
 	}
+
+	return ret ? ret : len;
 }
 
 static int adxl367_write_raw_get_fmt(struct iio_dev *indio_dev,
@@ -1376,6 +1518,37 @@ static const struct iio_event_spec adxl367_events[] = {
 	},
 };
 
+static const struct iio_chan_spec_ext_info adxl367_step_ext_info[] = {
+	{
+		.name = "threshold",
+		.read = adxl367_read_attr,
+		.write = adxl367_write_attr,
+		.private = ADXL367_PEDOMETER_THRESHOLD,
+	},
+	{
+		.name = "sensitivity",
+		.read = adxl367_read_attr,
+		.write = adxl367_write_attr,
+		.private = ADXL367_PEDOMETER_SENSITIVITY,
+	},
+	{
+		.name = "reset",
+		.write = adxl367_write_attr,
+		.private = ADXL367_PEDOMETER_RESET,
+	},
+	{ }
+};
+
+static const struct iio_chan_spec_ext_info adxl367_z_ext_info[] = {
+	{
+		.name = "nl_comp_en",
+		.read = adxl367_read_attr,
+		.write = adxl367_write_attr,
+		.private = ADXL367_Z_NONLINEARITY_COMPENSATION,
+	},
+	{ }
+};
+
 #define ADXL367_ACCEL_CHANNEL(index, reg, axis) {			\
 	.type = IIO_ACCEL,						\
 	.address = (reg),						\
@@ -1424,6 +1597,44 @@ static const struct iio_chan_spec adxl367_channels[] = {
 			IIO_VOLTAGE),
 };
 
+static const struct iio_chan_spec adxl366_channels[] = {
+	ADXL367_ACCEL_CHANNEL(ADXL367_X_CHANNEL_INDEX, ADXL367_REG_X_DATA_H, X),
+	ADXL367_ACCEL_CHANNEL(ADXL367_Y_CHANNEL_INDEX, ADXL367_REG_Y_DATA_H, Y),
+	{
+		.type = IIO_ACCEL,
+		.address = ADXL367_REG_Z_DATA_H,
+		.modified = 1,
+		.channel2 = IIO_MOD_Z,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
+		.info_mask_shared_by_type_available = BIT(IIO_CHAN_INFO_SCALE),
+		.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
+		.info_mask_shared_by_all_available =
+				BIT(IIO_CHAN_INFO_SAMP_FREQ),
+		.event_spec = adxl367_events,
+		.num_event_specs = ARRAY_SIZE(adxl367_events),
+		.scan_index = ADXL367_Z_CHANNEL_INDEX,
+		.scan_type = {
+			.sign = 's',
+			.realbits = 14,
+			.storagebits = 16,
+			.endianness = IIO_BE,
+			},
+		.ext_info = adxl367_z_ext_info,
+	},
+	ADXL367_CHANNEL(ADXL367_TEMP_CHANNEL_INDEX, ADXL367_REG_TEMP_DATA_H,
+			IIO_TEMP),
+	ADXL367_CHANNEL(ADXL367_EX_ADC_CHANNEL_INDEX, ADXL367_REG_EX_ADC_DATA_H,
+			IIO_VOLTAGE),
+	{
+		.type = IIO_STEPS,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_PROCESSED) |
+				      BIT(IIO_CHAN_INFO_ENABLE),
+		.scan_index = -1, /* No buffer support */
+		.ext_info = adxl367_step_ext_info,
+	},
+};
+
 static int adxl367_verify_devid(struct adxl367_state *st)
 {
 	unsigned int val;
@@ -1479,6 +1690,9 @@ int adxl367_probe(struct device *dev, const struct adxl367_ops *ops,
 	struct iio_dev *indio_dev;
 	struct adxl367_state *st;
 	int ret;
+	enum adxl367_variant variant;
+
+	variant = (uintptr_t)device_get_match_data(dev);
 
 	indio_dev = devm_iio_device_alloc(dev, sizeof(*st));
 	if (!indio_dev)
@@ -1492,10 +1706,21 @@ int adxl367_probe(struct device *dev, const struct adxl367_ops *ops,
 
 	mutex_init(&st->lock);
 
-	indio_dev->channels = adxl367_channels;
-	indio_dev->num_channels = ARRAY_SIZE(adxl367_channels);
+	switch (variant) {
+	case ADXL366:
+		indio_dev->name = "adxl366";
+		indio_dev->channels = adxl366_channels;
+		indio_dev->num_channels = ARRAY_SIZE(adxl366_channels);
+		break;
+	case ADXL367:
+		indio_dev->name = "adxl367";
+		indio_dev->channels = adxl367_channels;
+		indio_dev->num_channels = ARRAY_SIZE(adxl367_channels);
+		break;
+	default:
+		return -EINVAL;
+	}
 	indio_dev->available_scan_masks = adxl367_channel_masks;
-	indio_dev->name = "adxl367";
 	indio_dev->info = &adxl367_info;
 	indio_dev->modes = INDIO_DIRECT_MODE;
 
diff --git a/drivers/iio/accel/adxl367.h b/drivers/iio/accel/adxl367.h
index 4a42622149b1..21a6b06b774d 100644
--- a/drivers/iio/accel/adxl367.h
+++ b/drivers/iio/accel/adxl367.h
@@ -9,6 +9,11 @@
 
 #include <linux/types.h>
 
+enum adxl367_variant {
+	ADXL366,
+	ADXL367,
+};
+
 struct device;
 struct regmap;
 
diff --git a/drivers/iio/accel/adxl367_i2c.c b/drivers/iio/accel/adxl367_i2c.c
index b595fe94f3a3..b712e038183f 100644
--- a/drivers/iio/accel/adxl367_i2c.c
+++ b/drivers/iio/accel/adxl367_i2c.c
@@ -61,13 +61,15 @@ static int adxl367_i2c_probe(struct i2c_client *client)
 }
 
 static const struct i2c_device_id adxl367_i2c_id[] = {
-	{ "adxl367", 0 },
+	{ "adxl366", ADXL366 },
+	{ "adxl367", ADXL367 },
 	{ },
 };
 MODULE_DEVICE_TABLE(i2c, adxl367_i2c_id);
 
 static const struct of_device_id adxl367_of_match[] = {
-	{ .compatible = "adi,adxl367" },
+	{ .compatible = "adi,adxl366", .data = (const void *)ADXL366 },
+	{ .compatible = "adi,adxl367", .data = (const void *)ADXL367 },
 	{ },
 };
 MODULE_DEVICE_TABLE(of, adxl367_of_match);
diff --git a/drivers/iio/accel/adxl367_spi.c b/drivers/iio/accel/adxl367_spi.c
index 118c894015a5..ea8c0408281b 100644
--- a/drivers/iio/accel/adxl367_spi.c
+++ b/drivers/iio/accel/adxl367_spi.c
@@ -138,13 +138,15 @@ static int adxl367_spi_probe(struct spi_device *spi)
 }
 
 static const struct spi_device_id adxl367_spi_id[] = {
-	{ "adxl367", 0 },
+	{ "adxl366", ADXL366 },
+	{ "adxl367", ADXL367 },
 	{ },
 };
 MODULE_DEVICE_TABLE(spi, adxl367_spi_id);
 
 static const struct of_device_id adxl367_of_match[] = {
-	{ .compatible = "adi,adxl367" },
+	{ .compatible = "adi,adxl366", .data = (const void *)ADXL366 },
+	{ .compatible = "adi,adxl367", .data = (const void *)ADXL367 },
 	{ },
 };
 MODULE_DEVICE_TABLE(of, adxl367_of_match);
