diff --git a/drivers/iio/imu/adis16475.c b/drivers/iio/imu/adis16475.c
index 3abffb01ba31..84bee9e155bd 100644
--- a/drivers/iio/imu/adis16475.c
+++ b/drivers/iio/imu/adis16475.c
@@ -31,6 +31,12 @@
 #define ADIS16475_REG_Y_ACCEL_L		0x14
 #define ADIS16475_REG_Z_ACCEL_L		0x18
 #define ADIS16475_REG_TEMP_OUT		0x1c
+#define ADIS16475_REG_X_DELTANG_L	0x24
+#define ADIS16475_REG_Y_DELTANG_L	0x28
+#define ADIS16475_REG_Z_DELTANG_L	0x2C
+#define ADIS16475_REG_X_DELTVEL_L	0x30
+#define ADIS16475_REG_Y_DELTVEL_L	0x34
+#define ADIS16475_REG_Z_DELTVEL_L	0x38
 #define ADIS16475_REG_X_GYRO_BIAS_L	0x40
 #define ADIS16475_REG_Y_GYRO_BIAS_L	0x44
 #define ADIS16475_REG_Z_GYRO_BIAS_L	0x48
@@ -90,6 +96,8 @@ struct adis16475_chip_info {
 	u32 accel_max_val;
 	u32 accel_max_scale;
 	u32 temp_scale;
+	u32 deltang_max_val;
+	u32 deltvel_max_val;
 	u32 int_clk;
 	u16 max_dec;
 	u8 num_sync;
@@ -453,6 +461,14 @@ static int adis16475_read_raw(struct iio_dev *indio_dev,
 		case IIO_TEMP:
 			*val = st->info->temp_scale;
 			return IIO_VAL_INT;
+		case IIO_ROT:
+			*val = st->info->deltang_max_val;
+			*val2 = 31;
+			return IIO_VAL_FRACTIONAL_LOG2;
+		case IIO_VELOCITY:
+			*val = st->info->deltvel_max_val;
+			*val2 = 31;
+			return IIO_VAL_FRACTIONAL_LOG2;
 		default:
 			return -EINVAL;
 		}
@@ -553,6 +569,32 @@ static int adis16475_write_raw(struct iio_dev *indio_dev,
 		}, \
 	}
 
+#define ADIS16475_MOD_CHAN_DELTA(_type, _mod, _address, _r_bits, _s_bits) { \
+		.type = (_type), \
+		.modified = 1, \
+		.channel2 = (_mod), \
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+		.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \
+			BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+		.address = (_address), \
+		.scan_index = -1, \
+		.scan_type = { \
+			.sign = 's', \
+			.realbits = (_r_bits), \
+			.storagebits = (_s_bits), \
+			.endianness = IIO_BE, \
+		}, \
+	}
+
+#define ADIS16475_DELTANG_CHAN(_mod) \
+	ADIS16475_MOD_CHAN_DELTA(IIO_ROT, IIO_MOD_ ## _mod, \
+			   ADIS16475_REG_ ## _mod ## _DELTANG_L, 32, 32)
+
+#define ADIS16475_DELTVEL_CHAN(_mod) \
+	ADIS16475_MOD_CHAN_DELTA(IIO_VELOCITY, IIO_MOD_ ## _mod, \
+			   ADIS16475_REG_ ## _mod ## _DELTVEL_L, 32, 32)
+
 static const struct iio_chan_spec adis16475_channels[] = {
 	ADIS16475_GYRO_CHANNEL(X),
 	ADIS16475_GYRO_CHANNEL(Y),
@@ -561,6 +603,12 @@ static const struct iio_chan_spec adis16475_channels[] = {
 	ADIS16475_ACCEL_CHANNEL(Y),
 	ADIS16475_ACCEL_CHANNEL(Z),
 	ADIS16475_TEMP_CHANNEL(),
+	ADIS16475_DELTANG_CHAN(X),
+	ADIS16475_DELTANG_CHAN(Y),
+	ADIS16475_DELTANG_CHAN(Z),
+	ADIS16475_DELTVEL_CHAN(X),
+	ADIS16475_DELTVEL_CHAN(Y),
+	ADIS16475_DELTVEL_CHAN(Z),
 	IIO_CHAN_SOFT_TIMESTAMP(7)
 };
 
@@ -664,6 +712,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = 2160,
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -679,6 +729,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = 360,
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -694,6 +746,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = 720,
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -709,6 +763,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = 2160,
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -724,6 +780,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = 360,
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -739,6 +797,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = 720,
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -754,6 +814,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = 2160,
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -769,6 +831,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = 360,
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -784,6 +848,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = 720,
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -799,6 +865,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = 2160,
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -814,6 +882,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = 360,
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -829,6 +899,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = 720,
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -844,6 +916,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = 2160,
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -859,6 +933,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 392,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = 2160,
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -876,6 +952,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 78,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = 360,
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -893,6 +971,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 78,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = 720,
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -910,6 +990,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 78,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = 2160,
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -927,6 +1009,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 392,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = 360,
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -944,6 +1028,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 392,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = 720,
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -961,6 +1047,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 392,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = 2160,
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
