diff --git a/drivers/hid/hid-sony.c b/drivers/hid/hid-sony.c
index ce0526d..f1c1a16 100644
--- a/drivers/hid/hid-sony.c
+++ b/drivers/hid/hid-sony.c
@@ -62,7 +62,7 @@
 				DUALSHOCK4_CONTROLLER)
 #define SONY_BATTERY_SUPPORT (SIXAXIS_CONTROLLER | DUALSHOCK4_CONTROLLER)
 #define SONY_FF_SUPPORT (SIXAXIS_CONTROLLER | DUALSHOCK4_CONTROLLER)
-#define SONY_IIO_SUPPORT SIXAXIS_CONTROLLER
+#define SONY_IIO_SUPPORT (SIXAXIS_CONTROLLER | DUALSHOCK4_CONTROLLER)
 
 #define MAX_LEDS 4
 
@@ -848,13 +848,16 @@ struct sony_sc {
 #if IS_BUILTIN(CONFIG_IIO) || \
 	(IS_MODULE(CONFIG_IIO) && IS_MODULE(CONFIG_HID_SONY))
 	struct iio_dev *indio_dev;
-	__u16 last_data[3];
+	__s16 last_data[6];
 };
 
 enum sony_iio_axis {
 	AXIS_ACC_X,
 	AXIS_ACC_Y,
 	AXIS_ACC_Z,
+	AXIS_GYRO_X,
+	AXIS_GYRO_Y,
+	AXIS_GYRO_Z,
 };
 
 static void sony_iio_trigger_work(struct irq_work *work);
@@ -863,7 +866,7 @@ struct sony_iio {
 	struct sony_sc *sc;
 	struct iio_trigger *trig;
 
-	u8 buff[16];		/* 3x 16-bit + padding + timestamp */
+	u8 buff[24];		/* 6x 16-bit + padding + timestamp */
 	struct irq_work work;
 #endif
 };
@@ -1095,6 +1098,25 @@ static int sony_raw_event(struct hid_device *hdev, struct hid_report *report,
 	} else if (((sc->quirks & DUALSHOCK4_CONTROLLER_USB) && rd[0] == 0x01 &&
 			size == 64) || ((sc->quirks & DUALSHOCK4_CONTROLLER_BT)
 			&& rd[0] == 0x11 && size == 78)) {
+#if IS_BUILTIN(CONFIG_IIO) || \
+	(IS_MODULE(CONFIG_IIO) && IS_MODULE(CONFIG_HID_SONY))
+		int offset = (sc->quirks & DUALSHOCK4_CONTROLLER_USB) ? 13 : 15;
+
+		sc->last_data[AXIS_ACC_X] = (rd[offset+7] << 8) + rd[offset+6];
+		sc->last_data[AXIS_ACC_Y] = (rd[offset+9] << 8) + rd[offset+8];
+		sc->last_data[AXIS_ACC_Z] = (rd[offset+11] << 8) + rd[offset+10];
+
+		sc->last_data[AXIS_GYRO_X] = (rd[offset+1] << 8) + rd[offset];
+		sc->last_data[AXIS_GYRO_Y] = (rd[offset+3] << 8) + rd[offset+2];
+		sc->last_data[AXIS_GYRO_Z] = (rd[offset+5] << 8) + rd[offset+4];
+
+		if (sc->indio_dev) {
+			struct sony_iio *data;
+
+			data = iio_priv(sc->indio_dev);
+			sony_iio_trigger_work(&data->work);
+		}
+#endif
 		dualshock4_parse_report(sc, rd, size);
 	}
 
@@ -1827,6 +1849,7 @@ static int sony_iio_read_raw(struct iio_dev *indio_dev,
 	case IIO_CHAN_INFO_RAW:
 		switch (chan->type) {
 		case IIO_ACCEL:
+		case IIO_ANGL_VEL:
 			*val = data->sc->last_data[chan->address];
 			return IIO_VAL_INT;
 		default:
@@ -1835,8 +1858,17 @@ static int sony_iio_read_raw(struct iio_dev *indio_dev,
 	case IIO_CHAN_INFO_SCALE:
 		switch (chan->type) {
 		case IIO_ACCEL:
-			*val = 0;	/* 9.80665/117 = 0.084540086 */
-			*val2 = 84540;
+			if (data->sc->quirks & SIXAXIS_CONTROLLER) {
+				*val = 0;	/* 9.80665/117 = 0.084540086 */
+				*val2 = 84540;
+			} else if (data->sc->quirks & DUALSHOCK4_CONTROLLER) {
+				*val = 0;	/* 9.80665/8192 = 0.001197101 */
+				*val2 = 1197;
+			}
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_ANGL_VEL:
+			*val = 0;	/* 0.001 */
+			*val2 = 1000;
 			return IIO_VAL_INT_PLUS_MICRO;
 		default:
 			return -EINVAL;
@@ -1844,7 +1876,13 @@ static int sony_iio_read_raw(struct iio_dev *indio_dev,
 	case IIO_CHAN_INFO_OFFSET:
 		switch (chan->type) {
 		case IIO_ACCEL:
-			*val = -512;
+			if (data->sc->quirks & SIXAXIS_CONTROLLER)
+				*val = -512;
+			else if (data->sc->quirks & DUALSHOCK4_CONTROLLER)
+				*val = 0;
+			return IIO_VAL_INT;
+		case IIO_ANGL_VEL:
+			*val = 0;
 			return IIO_VAL_INT;
 		default:
 			return -EINVAL;
@@ -1871,6 +1909,23 @@ static int sony_iio_read_raw(struct iio_dev *indio_dev,
 	},                                                              \
 }
 
+#define SONY_GYRO_CHANNEL(_axis) {                                      \
+	.type = IIO_ANGL_VEL,                                           \
+	.modified = 1,                                                  \
+	.channel2 = IIO_MOD_##_axis,                                    \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),                   \
+	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) |          \
+		BIT(IIO_CHAN_INFO_OFFSET),                              \
+	.address = AXIS_GYRO_##_axis,                                   \
+	.scan_index = AXIS_GYRO_##_axis,                                \
+	.scan_type = {                                                  \
+		.sign = 's',                                            \
+		.realbits = 16,                                         \
+		.storagebits = 16,                                      \
+		.shift = 0,                                             \
+	},                                                              \
+}
+
 static const struct iio_chan_spec sony_sixaxis_channels[] = {
 	SONY_ACC_CHANNEL(X),
 	SONY_ACC_CHANNEL(Y),
@@ -1878,6 +1933,16 @@ static const struct iio_chan_spec sony_sixaxis_channels[] = {
 	IIO_CHAN_SOFT_TIMESTAMP(3),
 };
 
+static const struct iio_chan_spec sony_dualshock4_channels[] = {
+	SONY_ACC_CHANNEL(X),
+	SONY_ACC_CHANNEL(Y),
+	SONY_ACC_CHANNEL(Z),
+	SONY_GYRO_CHANNEL(X),
+	SONY_GYRO_CHANNEL(Y),
+	SONY_GYRO_CHANNEL(Z),
+	IIO_CHAN_SOFT_TIMESTAMP(6),
+};
+
 static const struct iio_info sony_iio_info = {
 	.read_raw = &sony_iio_read_raw,
 	.driver_module = THIS_MODULE,
@@ -1943,8 +2008,14 @@ static int sony_iio_probe(struct sony_sc *sc)
 	indio_dev->name = dev_name(&hdev->dev);
 	indio_dev->modes = INDIO_DIRECT_MODE | INDIO_BUFFER_TRIGGERED;
 	indio_dev->info = &sony_iio_info;
-	indio_dev->channels = sony_sixaxis_channels;
-	indio_dev->num_channels = ARRAY_SIZE(sony_sixaxis_channels);
+
+	if (sc->quirks & SIXAXIS_CONTROLLER) {
+		indio_dev->channels = sony_sixaxis_channels;
+		indio_dev->num_channels = ARRAY_SIZE(sony_sixaxis_channels);
+	} else if (sc->quirks & DUALSHOCK4_CONTROLLER) {
+		indio_dev->channels = sony_dualshock4_channels;
+		indio_dev->num_channels = ARRAY_SIZE(sony_dualshock4_channels);
+	}
 
 	data->trig = iio_trigger_alloc("%s-dev%d", indio_dev->name,
 		indio_dev->id);
