diff --git a/dev_in.c b/dev_in.c
index 99554b5..d81aa3f 100644
--- a/dev_in.c
+++ b/dev_in.c
@@ -5,8 +5,6 @@
 #include "message.h"
 #include "dev_evdev.h"
 #include "dev_iio.h"
-#include <libevdev-1.0/libevdev/libevdev.h>
-#include <linux/input-event-codes.h>
 
 typedef enum dev_in_type {
     DEV_IN_TYPE_NONE,
@@ -61,6 +59,9 @@ static int map_message_from_iio(dev_in_iio_t *const in_iio, in_message_t *const
 
     uint8_t data[32];
 
+    struct timeval read_time;
+    gettimeofday(&read_time, NULL);
+
     res = read(dev_iio_get_buffer_fd(in_iio->iiodev), &data[0], sizeof(data));
     if (res == -1) {
         res = errno;
@@ -68,7 +69,28 @@ static int map_message_from_iio(dev_in_iio_t *const in_iio, in_message_t *const
         goto send_message_from_iio_err;
     }
 
-    res = 0;
+    if (res != 24) {
+        fprintf(stderr, "Invalid read lenght\n");
+        res = -EIO;
+        goto send_message_from_iio_err;
+    }
+
+    uint16_t *const scan_elements = (uint16_t*)&data[0];
+
+    messages[0].data.gamepad_set.element = GAMEPAD_ACCELEROMETER;
+    messages[0].data.gamepad_set.status.gyro.sample_time = read_time;
+    messages[0].data.gamepad_set.status.accel.x = scan_elements[0];
+    messages[0].data.gamepad_set.status.accel.y = scan_elements[1];
+    messages[0].data.gamepad_set.status.accel.z = scan_elements[2];
+
+    messages[1].type = GAMEPAD_SET_ELEMENT;
+    messages[1].data.gamepad_set.element = GAMEPAD_GYROSCOPE;
+    messages[1].data.gamepad_set.status.gyro.sample_time = read_time;
+    messages[1].data.gamepad_set.status.gyro.x = scan_elements[3];
+    messages[1].data.gamepad_set.status.gyro.y = scan_elements[4];
+    messages[1].data.gamepad_set.status.gyro.z = scan_elements[5];
+
+    res = 2;
 
 send_message_from_iio_err:
     return res;
diff --git a/dev_out.c b/dev_out.c
index 458ceca..dcf1f9e 100644
--- a/dev_out.c
+++ b/dev_out.c
@@ -134,6 +134,20 @@ static void handle_incoming_message_gamepad_set(
 
             break;
         }
+        case GAMEPAD_GYROSCOPE: {
+            inout_gamepad->last_gyro_motion_time = msg_payload->status.gyro.sample_time;
+            inout_gamepad->raw_gyro[0] = msg_payload->status.gyro.x;
+            inout_gamepad->raw_gyro[1] = msg_payload->status.gyro.y;
+            inout_gamepad->raw_gyro[2] = msg_payload->status.gyro.z;
+            break;
+        }
+        case GAMEPAD_ACCELEROMETER: {
+            inout_gamepad->last_accel_motion_time = msg_payload->status.accel.sample_time;
+            inout_gamepad->raw_accel[0] = msg_payload->status.accel.x;
+            inout_gamepad->raw_accel[1] = msg_payload->status.accel.y;
+            inout_gamepad->raw_accel[2] = msg_payload->status.accel.z;
+            break;
+        }
         default: {
             fprintf(stderr, "Unknown gamepad element: %d\n", msg_payload->element);
             break;
diff --git a/message.h b/message.h
index 91bc3b2..d16e371 100644
--- a/message.h
+++ b/message.h
@@ -32,14 +32,35 @@ typedef enum in_message_gamepad_btn {
 
     GAMEPAD_DPAD_X,
     GAMEPAD_DPAD_Y,
+
+    GAMEPAD_GYROSCOPE,
+    GAMEPAD_ACCELEROMETER,
 }  in_gamepad_element_t;
 
+typedef struct in_message_gamepad_gyro {
+    struct timeval sample_time;
+
+    uint16_t x;
+    uint16_t y;
+    uint16_t z;
+} in_message_gamepad_gyro_t;
+
+typedef struct in_message_gamepad_accel {
+    struct timeval sample_time;
+
+    uint16_t x;
+    uint16_t y;
+    uint16_t z;
+} in_message_gamepad_accel_t;
+
 typedef struct in_message_gamepad_set_element {
     in_gamepad_element_t element;
     union {
         uint8_t btn;
         int32_t joystick_pos;
         int8_t dpad; // -1 | 0 | +1
+        in_message_gamepad_accel_t accel;
+        in_message_gamepad_gyro_t gyro;
     } status;
 }  in_message_gamepad_set_element_t;