diff --git a/examples/bt_api_example.py b/examples/bt_api_example.py
index c11a6b2..2603822 100644
--- a/examples/bt_api_example.py
+++ b/examples/bt_api_example.py
@@ -36,6 +36,9 @@ def main(args=None):
         + "]"
     )
 
+    hw_info = shim_dev.get_device_hardware_version()
+    print(f"- hardware: [{hw_info.name}]")
+
     shim_dev.add_stream_callback(stream_cb)
 
     shim_dev.start_streaming()
diff --git a/pyshimmer/bluetooth/bt_api.py b/pyshimmer/bluetooth/bt_api.py
index 719fea0..b73e170 100644
--- a/pyshimmer/bluetooth/bt_api.py
+++ b/pyshimmer/bluetooth/bt_api.py
@@ -63,6 +63,7 @@
     ChannelDataType,
     EChannelType,
     ESensorGroup,
+    set_active_dtype_assignment,
 )
 from pyshimmer.dev.exg import ExGRegister
 from pyshimmer.dev.fw_version import (
@@ -384,7 +385,9 @@ def initialize(self) -> None:
         """
         self._thread.start()
         self._set_fw_capabilities()
-
+        # Select the active channel dtype map for the detected hardware.
+        set_active_dtype_assignment(self._hw_version)   
+        
         if self.capabilities.supports_ack_disable and self._disable_ack:
             self.set_status_ack(enabled=False)
 
@@ -604,7 +607,8 @@ def get_inquiry(self) -> tuple[float, int, list[EChannelType]]:
             - The active data channels of the device as list, does not include the
               TIMESTAMP channel
         """
-        return self._process_and_wait(InquiryCommand())
+        cmd = InquiryCommand(self._hw_version)  # pass HW so the command knows header length
+        return self._process_and_wait(cmd)
 
     def get_data_types(self):
         """Get the active data channels of the device
diff --git a/pyshimmer/bluetooth/bt_commands.py b/pyshimmer/bluetooth/bt_commands.py
index 52e8080..b7b9e61 100644
--- a/pyshimmer/bluetooth/bt_commands.py
+++ b/pyshimmer/bluetooth/bt_commands.py
@@ -400,8 +400,9 @@ class InquiryCommand(ResponseCommand):
     channels
     """
 
-    def __init__(self):
+    def __init__(self, hw_version: HardwareVersion | None = None):
         super().__init__(INQUIRY_RESPONSE)
+        self._hw_version = hw_version
 
     @staticmethod
     def decode_channel_types(ct_bin: bytes) -> list[EChannelType]:
@@ -412,9 +413,14 @@ def decode_channel_types(ct_bin: bytes) -> list[EChannelType]:
     def send(self, ser: BluetoothSerial) -> None:
         ser.write_command(INQUIRY_COMMAND)
 
+    def _is_shimmer3r(self) -> bool:
+        return self._hw_version == HardwareVersion.SHIMMER3R
+
+
     def receive(self, ser: BluetoothSerial) -> any:
+        fmt = "<HI3xBB" if self._is_shimmer3r() else "<HIBB"
         sr_val, _, n_ch, buf_size = ser.read_response(
-            INQUIRY_RESPONSE, arg_format="<HIBB"
+            INQUIRY_RESPONSE, arg_format=fmt
         )
         channel_conf = ser.read(n_ch)
 
diff --git a/pyshimmer/dev/channels.py b/pyshimmer/dev/channels.py
index 963bda9..5fe4688 100644
--- a/pyshimmer/dev/channels.py
+++ b/pyshimmer/dev/channels.py
@@ -19,6 +19,7 @@
 from collections.abc import Iterable
 from enum import Enum, auto, unique
 
+from pyshimmer.dev.fw_version import HardwareVersion
 from pyshimmer.util import raise_to_next_pow, unpack, flatten_list, bit_is_set
 
 
@@ -355,7 +356,7 @@ class ESensorGroup(Enum):
 """
 Assigns each channel type its appropriate data type.
 """
-ChDataTypeAssignment: dict[EChannelType, ChannelDataType] = {
+ChDataTypeAssignmentShimmer3: dict[EChannelType, ChannelDataType] = {
     EChannelType.ACCEL_LN_X: ChannelDataType(2, signed=True, le=True),
     EChannelType.ACCEL_LN_Y: ChannelDataType(2, signed=True, le=True),
     EChannelType.ACCEL_LN_Z: ChannelDataType(2, signed=True, le=True),
@@ -400,6 +401,58 @@ class ESensorGroup(Enum):
     EChannelType.TIMESTAMP: ChannelDataType(3, signed=False, le=True),
 }
 
+"""
+Assigns each channel type its appropriate data type.
+"""
+ChDataTypeAssignmentShimmer3R: dict[EChannelType, ChannelDataType] = {
+    EChannelType.ACCEL_LN_X: ChannelDataType(2, signed=True, le=True),
+    EChannelType.ACCEL_LN_Y: ChannelDataType(2, signed=True, le=True),
+    EChannelType.ACCEL_LN_Z: ChannelDataType(2, signed=True, le=True),
+    EChannelType.VBATT: ChannelDataType(2, signed=True, le=True),
+    EChannelType.ACCEL_WR_X: ChannelDataType(2, signed=True, le=True),
+    EChannelType.ACCEL_WR_Y: ChannelDataType(2, signed=True, le=True),
+    EChannelType.ACCEL_WR_Z: ChannelDataType(2, signed=True, le=True),
+    EChannelType.MAG_REG_X: ChannelDataType(2, signed=True, le=True),
+    EChannelType.MAG_REG_Y: ChannelDataType(2, signed=True, le=True),
+    EChannelType.MAG_REG_Z: ChannelDataType(2, signed=True, le=True),
+    EChannelType.GYRO_X: ChannelDataType(2, signed=True, le=True),
+    EChannelType.GYRO_Y: ChannelDataType(2, signed=True, le=True),
+    EChannelType.GYRO_Z: ChannelDataType(2, signed=True, le=True),
+    EChannelType.EXTERNAL_ADC_A0: ChannelDataType(2, signed=False, le=True),
+    EChannelType.EXTERNAL_ADC_A1: ChannelDataType(2, signed=False, le=True),
+    EChannelType.EXTERNAL_ADC_A2: ChannelDataType(2, signed=False, le=True),
+    EChannelType.INTERNAL_ADC_A3: ChannelDataType(2, signed=False, le=True),
+    EChannelType.INTERNAL_ADC_A0: ChannelDataType(2, signed=False, le=True),
+    EChannelType.INTERNAL_ADC_A1: ChannelDataType(2, signed=False, le=True),
+    EChannelType.INTERNAL_ADC_A2: ChannelDataType(2, signed=False, le=True),
+    EChannelType.ACCEL_HG_X: None,
+    EChannelType.ACCEL_HG_Y: None,
+    EChannelType.ACCEL_HG_Z: None,
+    EChannelType.MAG_WR_X: None,
+    EChannelType.MAG_WR_Y: None,
+    EChannelType.MAG_WR_Z: None,
+    EChannelType.TEMPERATURE: ChannelDataType(2, signed=False, le=False),
+    EChannelType.PRESSURE: ChannelDataType(3, signed=False, le=False),
+    EChannelType.GSR_RAW: ChannelDataType(2, signed=False, le=True),
+    EChannelType.EXG1_STATUS: ChannelDataType(1, signed=False, le=True),
+    EChannelType.EXG1_CH1_24BIT: ChannelDataType(3, signed=True, le=False),
+    EChannelType.EXG1_CH2_24BIT: ChannelDataType(3, signed=True, le=False),
+    EChannelType.EXG2_STATUS: ChannelDataType(1, signed=False, le=True),
+    EChannelType.EXG2_CH1_24BIT: ChannelDataType(3, signed=True, le=False),
+    EChannelType.EXG2_CH2_24BIT: ChannelDataType(3, signed=True, le=False),
+    EChannelType.EXG1_CH1_16BIT: ChannelDataType(2, signed=True, le=False),
+    EChannelType.EXG1_CH2_16BIT: ChannelDataType(2, signed=True, le=False),
+    EChannelType.EXG2_CH1_16BIT: ChannelDataType(2, signed=True, le=False),
+    EChannelType.EXG2_CH2_16BIT: ChannelDataType(2, signed=True, le=False),
+    EChannelType.STRAIN_HIGH: ChannelDataType(2, signed=False, le=True),
+    EChannelType.STRAIN_LOW: ChannelDataType(2, signed=False, le=True),
+    EChannelType.TIMESTAMP: ChannelDataType(3, signed=False, le=True),
+}
+
+ChDataTypeAssignmentShimmer: dict[EChannelType, ChannelDataType] = dict(ChDataTypeAssignmentShimmer3)
+
+ChDataTypeAssignment = ChDataTypeAssignmentShimmer
+
 """
 This dictionary contains the mapping from sensor to data channels. Since one sensor can
 record on multiple channels, the mapping is one-to-many.
@@ -529,6 +582,14 @@ class ESensorGroup(Enum):
 ENABLED_SENSORS_LEN = 0x03
 SENSOR_DTYPE = ChannelDataType(size=ENABLED_SENSORS_LEN, signed=False, le=True)
 
+def set_active_dtype_assignment(hw: HardwareVersion | None) -> None:
+    """
+    Mutate the active dtype map in-place to match the given hardware.
+    Using in-place mutation ensures modules that imported the dict earlier see the update.
+    """
+    target = ChDataTypeAssignmentShimmer3R if hw == HardwareVersion.SHIMMER3R else ChDataTypeAssignmentShimmer3
+    ChDataTypeAssignmentShimmer.clear()
+    ChDataTypeAssignmentShimmer.update(target)
 
 def get_enabled_channels(sensors: list[ESensorGroup]) -> list[EChannelType]:
     """Determine the set of data channels for a set of enabled sensors
diff --git a/test/bluetooth/test_bt_commands.py b/test/bluetooth/test_bt_commands.py
index 57b7df7..ce97a11 100644
--- a/test/bluetooth/test_bt_commands.py
+++ b/test/bluetooth/test_bt_commands.py
@@ -186,6 +186,32 @@ def test_inquiry_command(self):
         self.assertEqual(buf_size, 1)
         self.assertEqual(ctypes, [EChannelType.INTERNAL_ADC_A1])
 
+    def test_inquiry_command_shimmer3r(self):
+    #   INQUIRY response layout for 3R:
+    #   0x02 (resp code)
+    #   sr_val = 0x0040
+    #   misc   = 0x0901FF01 (LE bytes: 01 FF 01 09)
+    #   + 3 extra bytes (skipped by parser)
+    #   n_ch   = 0x01
+    #   buf    = 0x01
+    #   channels[0] = 0x12 (INTERNAL_ADC_A1)
+        resp_3r = (
+            b"\x02"              # INQUIRY_RESPONSE
+            b"\x40\x00"          # sr_val (0x0040 = 512 Hz after dr2sr)
+            b"\x01\xff\x01\x09"  # misc (LE)
+            b"\x00\x00\x00"      # the 3 extra bytes for Shimmer3R
+            b"\x01"              # n_ch
+            b"\x01"              # buf_size
+            b"\x00"              # channel id
+        )
+
+        cmd = InquiryCommand(HardwareVersion.SHIMMER3R)
+        sr, buf_size, ctypes = self.assert_cmd(cmd, b"\x01", b"\x02", resp_3r)
+
+        self.assertEqual(sr, 512.0)
+        self.assertEqual(buf_size, 1)
+        self.assertEqual(ctypes, [EChannelType.ACCEL_LN_X])  # 0x01 = ACCEL_LN_X
+
     def test_start_streaming_command(self):
         cmd = StartStreamingCommand()
         self.assert_cmd(cmd, b"\x07")