diff --git a/drivers/iio/common/cros_ec_sensors/cros_ec_sensors_core.c b/drivers/iio/common/cros_ec_sensors/cros_ec_sensors_core.c
index 576d7b451767..700ebcd68ff4 100644
--- a/drivers/iio/common/cros_ec_sensors/cros_ec_sensors_core.c
+++ b/drivers/iio/common/cros_ec_sensors/cros_ec_sensors_core.c
@@ -91,22 +91,6 @@ static void get_default_min_max_freq(enum motionsensor_type type,
 	}
 }
 
-static int cros_ec_sensor_set_ec_rate(struct cros_ec_sensors_core_state *st,
-				      int rate)
-{
-	int ret;
-
-	if (rate > U16_MAX)
-		rate = U16_MAX;
-
-	mutex_lock(&st->cmd_lock);
-	st->param.cmd = MOTIONSENSE_CMD_EC_RATE;
-	st->param.ec_rate.data = rate;
-	ret = cros_ec_motion_send_host_cmd(st, 0);
-	mutex_unlock(&st->cmd_lock);
-	return ret;
-}
-
 static ssize_t cros_ec_sensor_set_report_latency(struct device *dev,
 						 struct device_attribute *attr,
 						 const char *buf, size_t len)
@@ -122,7 +106,25 @@ static ssize_t cros_ec_sensor_set_report_latency(struct device *dev,
 
 	/* EC rate is in ms. */
 	latency = integer * 1000 + fract / 1000;
-	ret = cros_ec_sensor_set_ec_rate(st, latency);
+
+	mutex_lock(&st->cmd_lock);
+	st->param.cmd = MOTIONSENSE_CMD_EC_RATE;
+	st->param.ec_rate.data = min(U16_MAX, latency);
+	ret = cros_ec_motion_send_host_cmd(st, 0);
+	if (ret < 0) {
+		mutex_unlock(&st->cmd_lock);
+		return ret;
+	}
+
+	/*
+	 * Flush samples currently in the FIFO, especially when the new latency
+	 * is shorter than the old one: new timeout value is only considered when
+	 * there is a new sample available. It can take a while for a slow
+	 * sensor.
+	 */
+	st->param.cmd = MOTIONSENSE_CMD_FIFO_FLUSH;
+	ret = cros_ec_motion_send_host_cmd(st, 0);
+	mutex_unlock(&st->cmd_lock);
 	if (ret < 0)
 		return ret;
 
@@ -832,6 +834,18 @@ int cros_ec_sensors_core_write(struct cros_ec_sensors_core_state *st,
 		st->param.sensor_odr.roundup = 1;
 
 		ret = cros_ec_motion_send_host_cmd(st, 0);
+		if (ret)
+			break;
+
+		/* Flush the FIFO when a sensor is stopped.
+		 * If the FIFO has just been emptied, pending samples will be
+		 * stuck until new samples are available. It will not happen
+		 * when all the sensors are stopped.
+		 */
+		if (frequency == 0) {
+			st->param.cmd = MOTIONSENSE_CMD_FIFO_FLUSH;
+			ret = cros_ec_motion_send_host_cmd(st, 0);
+		}
 		break;
 	default:
 		ret = -EINVAL;