diff --git a/drivers/Kconfig b/drivers/Kconfig
index a2f3ee7867..50d8763553 100644
--- a/drivers/Kconfig
+++ b/drivers/Kconfig
@@ -45,6 +45,7 @@ rsource "mag3110/Kconfig"
 rsource "matrix_keypad/Kconfig"
 rsource "mma8x5x/Kconfig"
 rsource "opt3001/Kconfig"
+rsource "paa5100je/Kconfig"
 rsource "seesaw_soil/Kconfig"
 rsource "sht2x/Kconfig"
 rsource "sm_pwm_01c/Kconfig"
diff --git a/drivers/include/paa5100je.h b/drivers/include/paa5100je.h
new file mode 100644
index 0000000000..4a79a1fb90
--- /dev/null
+++ b/drivers/include/paa5100je.h
@@ -0,0 +1,134 @@
+/*
+ * SPDX-FileCopyrightText: 2025 TU Dresden
+ * SPDX-License-Identifier: LGPL-2.1-only
+ */
+
+#pragma once
+
+/**
+ * @defgroup    drivers_paa5100je PAA5100JE/PMW3901 Driver
+ * @ingroup     drivers_sensors
+ * @brief       Driver for the PAA5100JE/PMW3901 Optical Flow Sensor
+ *
+ * ## Description
+ *
+ * The PAA5100JE and PMW3901 sensors are accessed in the same way over SPI
+ * but require slightly different initialization code.
+ * Since the datasheets are not very detailed, I created this driver based on a reference
+ * implementation by Pimoroni, who designed a breakout board for the PMW3901.
+ *
+ * The motion data read represents the relative motion since the last readout.
+ * It depends on the surface, lighting conditions, and the sensor’s distance from the ground.
+ *
+ * The readings are scaled according to the configuration parameter `PAA5100JE_SCALE_DENOMINATOR`.
+ * The readings are multiplied by 100 and divided by the denominator.
+ *
+ * The scaling factor, the quality threshold, and the timeout can be configured via Kconfig.
+ *
+ * This driver provides @ref drivers_saul capabilities.
+ *
+ * Datasheets:
+ * * [PAA5100JE](https://cdn.shopify.com/s/files/1/0174/1800/files/PAA5100JE-Q-GDS-R1.00_25072018.pdf)
+ * * [PMW3901](https://wiki.bitcraze.io/_media/projects:crazyflie2:expansionboards:pot0189-pmw3901mb-txqt-ds-r1.00-200317_20170331160807_public.pdf)
+ *
+ * Reference Implementation:
+ * * [Pomoroni](https://github.com/pimoroni/pmw3901-python)
+ *
+ * @{
+ *
+ * @file
+ *
+ * @author      Leonard Herbst <leonard.herbst@tu-dresden.de>
+ */
+
+#include <periph/gpio.h>
+#include <periph/spi.h>
+
+#include <errno.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Variant of the sensor
+ */
+typedef enum {
+    PAA5100JE = 0,
+    PMW3901   = 1,
+} paa5100je_variant_t;
+
+/**
+ * @brief PAA5100JE LED brightness levels
+ */
+typedef enum {
+    PAA5100JE_LED_OFF    = 0,
+    PAA5100JE_LED_MEDIUM = 1,
+    PAA5100JE_LED_MAX    = 2,
+} paa5100je_led_brightness_t;
+
+/**
+ * @brief Device initialization parameters
+ */
+typedef struct {
+    spi_t spi;                /**< SPI bus used */
+    spi_clk_t clk;            /**< clock speed used on the selected SPI bus */
+    gpio_t cs;                /**< pin connected to the chip select line */
+    paa5100je_variant_t var;  /**< variant of the sensor used */
+} paa5100je_params_t;
+
+/**
+ * @brief Device descriptor for the driver
+ */
+typedef struct {
+    const paa5100je_params_t *params;  /**< Device initialization parameters */
+} paa5100je_t;
+
+/**
+ * @brief Initialize the given device
+ *
+ * @param[in,out] dev      Device descriptor of the driver
+ * @param[in]     params   Initialization parameters
+ *
+ * @retval        0        on success
+ * @retval        -ENXIO   invalid SPI device
+ * @retval        -ENODEV  invalid SPI CS pin/line or wrong device id or revision
+ */
+int paa5100je_init(paa5100je_t *dev, const paa5100je_params_t *params);
+
+/**
+ * @brief Reads the relative motition vector from the device using burst read.
+ *
+ * Reads twelve bytes from the burst register.
+ * Repeats the read when the data is not ready, the quality is too low
+ * or the shutter values is too high.
+ * The data being read from the sensor represents the relative motion since the last readout.
+ * It depends on the surface, lighting conditions, and the sensor’s distance from the ground.
+ * The quality threshold, the timeout, and a scaling factor can be configured via Kconfig.
+ *
+ * @param[in]     dev      device descriptor
+ * @param[out]    x        x component in millimeters
+ * @param[out]    y        y component in millimeters
+ *
+ * @retval        0        on success
+ * @retval        -ETIME   data was not ready in time, the quality was not good enough,
+ *                         or the shutter to high
+ */
+int paa5100je_get_motion_burst(const paa5100je_t *dev, int16_t *x, int16_t *y);
+
+/**
+ * @brief Sets the LED brightness level.
+ *
+ * @param[in]   dev        device descriptor
+ * @param[in]   level      brightness level
+ *
+ * @retval      0          on success
+ * @retval      -EINVAL    invalid brightness level
+ */
+int paa5100je_set_led_brightness(const paa5100je_t *dev, const paa5100je_led_brightness_t level);
+
+#ifdef __cplusplus
+}
+#endif
+
+/** @} */
diff --git a/drivers/paa5100je/Kconfig b/drivers/paa5100je/Kconfig
new file mode 100644
index 0000000000..f0eca6c2b3
--- /dev/null
+++ b/drivers/paa5100je/Kconfig
@@ -0,0 +1,37 @@
+# SPDX-FileCopyrightText: 2025 TU Dresden
+# SPDX-License-Identifier: LGPL-2.1-only
+
+config MODULE_PAA5100JE
+    bool "PAA5100JE"
+    depends on TEST_KCONFIG
+    depends on HAS_PERIPH_SPI
+    select MODULE_PERIPH_SPI
+
+menu "PAA5100JE driver"
+    depends on USEMODULE_PAA5100JE
+
+config PAA5100JE_QUALITY_THRESHOLD
+    hex "Quality Threshold"
+    range 0x00 0xff
+    default 0x19
+    help
+        Defines a minimum quality threshold when reading from the burst register.
+        If the reported quality is below this threshold,
+        the driver retries until the threshold is met or the function times out.
+
+config PAA5100JE_TIMEOUT_MS
+    int "Timeout in Milliseconds"
+    default 1000
+    help
+        Maximum time (in milliseconds)
+        the driver will attempt to read valid motion data before aborting.
+
+config PAA5100JE_SCALE_DENOMINATOR
+    int "Scale Denominator"
+    default 100
+    help
+        Denominator used for scaling motion data.
+        The raw motion data read from the sensor is multiplied by 100 and
+        divided by this value to convert it into meaningful units.
+
+endmenu # PAA5100JE driver
diff --git a/drivers/paa5100je/Makefile b/drivers/paa5100je/Makefile
new file mode 100644
index 0000000000..48422e909a
--- /dev/null
+++ b/drivers/paa5100je/Makefile
@@ -0,0 +1 @@
+include $(RIOTBASE)/Makefile.base
diff --git a/drivers/paa5100je/Makefile.dep b/drivers/paa5100je/Makefile.dep
new file mode 100644
index 0000000000..b95f3dc904
--- /dev/null
+++ b/drivers/paa5100je/Makefile.dep
@@ -0,0 +1,4 @@
+FEATURES_REQUIRED += periph_spi
+
+USEMODULE += ztimer
+USEMODULE += ztimer_msec
\ No newline at end of file
diff --git a/drivers/paa5100je/Makefile.include b/drivers/paa5100je/Makefile.include
new file mode 100644
index 0000000000..3b5cb444c3
--- /dev/null
+++ b/drivers/paa5100je/Makefile.include
@@ -0,0 +1,2 @@
+USEMODULE_INCLUDES_paa5100je := $(LAST_MAKEFILEDIR)/include
+USEMODULE_INCLUDES += $(USEMODULE_INCLUDES_paa5100je)
diff --git a/drivers/paa5100je/include/paa5100je_constants.h b/drivers/paa5100je/include/paa5100je_constants.h
new file mode 100644
index 0000000000..e7f05b43c0
--- /dev/null
+++ b/drivers/paa5100je/include/paa5100je_constants.h
@@ -0,0 +1,63 @@
+/*
+ * SPDX-FileCopyrightText: 2025 TU Dresden
+ * SPDX-License-Identifier: LGPL-2.1-only
+ */
+
+#pragma once
+
+/**
+ * @ingroup     drivers_paa5100je
+ *
+ * @{
+ * @file
+ * @brief       Internal addresses, registers and constants
+ *
+ * @author      Leonard Herbst <leonard.herbst@tu-dresden.de>
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @name    Register definitions for the PAA5100JE amd PMW3901 optical flow sensors
+ * @{
+ */
+/** @brief Product ID (reset value: 0x49, read-only) */
+#define REG_ID                   (0x00)
+
+/** @brief Product revision ID (reset value: 0x00, read-only) */
+#define REG_REV                  (0x01)
+
+/** @brief Motion data ready flag (bitfield, indicates new data availability, read/write) */
+#define REG_DATA_READY           (0x02)
+
+/** @brief Motion burst register: block read of motion, delta X/Y, quality, shutter, read-only */
+#define REG_MOTION_BURST         (0x16)
+
+/** @brief Write 0x5A to reset internal registers/state machine (soft reset), write-only */
+#define REG_POWER_UP_RESET       (0x3A)
+
+/** @brief Sensor orientation/mirroring (read/write, flips axes depending on mounting) */
+#define REG_ORIENTATION          (0x5B)
+
+/** @brief Inverse Product ID (reset value: 0xB6, bitwise NOT of REG_ID, read-only) */
+#define REG_INV_ID               (0x5F)
+
+/** @brief Register for controlling the LED brightness (read/write) */
+#define REG_LED_BRIGHTNESS       (0x6F)
+
+/** @brief Magic value to turn the led off */
+#define PAA5100JE_LED_OFF_VAL    (0x00)
+/** @brief Magic value to set the led to medium brightness */
+#define PAA5100JE_LED_MEDIUM_VAL (0x1C)
+/** @brief Magic value to set the led to maximum brightness */
+#define PAA5100JE_LED_MAX_VAL    (0xD5)
+
+/** @} */
+
+#ifdef __cplusplus
+}
+#endif
+
+/** @} */
diff --git a/drivers/paa5100je/include/paa5100je_params.h b/drivers/paa5100je/include/paa5100je_params.h
new file mode 100644
index 0000000000..72f029f42c
--- /dev/null
+++ b/drivers/paa5100je/include/paa5100je_params.h
@@ -0,0 +1,108 @@
+/*
+ * SPDX-FileCopyrightText: 2025 TU Dresden
+ * SPDX-License-Identifier: LGPL-2.1-only
+ */
+
+#pragma once
+
+/**
+ * @ingroup     drivers_paa5100je
+ *
+ * @{
+ * @file
+ * @brief       Default configuration
+ *
+ * @author      Leonard Herbst <leonard.herbst@tu-dresden.de>
+ */
+
+#include "board.h"
+#include "paa5100je.h"
+#include "paa5100je_constants.h"
+#include "periph/spi.h"
+#include "saul_reg.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Default quality threshold for motion data readout.
+ */
+#ifndef CONFIG_PAA5100JE_QUALITY_THRESHOLD
+#  define CONFIG_PAA5100JE_QUALITY_THRESHOLD    (0x19)
+#endif
+
+/**
+ * @brief Default timeout for motion data readout in milliseconds.
+ */
+#ifndef CONFIG_PAA5100JE_TIMEOUT_MS
+#  define CONFIG_PAA5100JE_TIMEOUT_MS           (1000U)
+#endif
+
+/**
+ * @brief Default denominator for scaling the motion data.
+ */
+#ifndef CONFIG_PAA5100JE_SCALE_DENOMINATOR
+#  define CONFIG_PAA5100JE_SCALE_DENOMINATOR    (100)
+#endif
+
+/**
+ * @name    Default configuration parameters for the PAA5100JE/PMW3901 driver.
+ * @{
+ */
+#ifndef PAA5100JE_PARAM_SPI
+#  define PAA5100JE_PARAM_SPI         (SPI_DEV(0))      /**< Default SPI device */
+#endif
+
+#ifndef PAA5100JE_PARAM_SPI_CLK
+#  define PAA5100JE_PARAM_SPI_CLK     (SPI_CLK_400KHZ)  /**< Default SPI speed */
+#endif
+
+#ifndef PAA5100JE_PARAM_CS
+#  define PAA5100JE_PARAM_CS          (GPIO_PIN(1, 2))  /**< Default SPI chip select pin */
+#endif
+
+#ifndef PAA5100JE_PARAM_VAR
+#  define PAA5100JE_PARAM_VAR         PAA5100JE         /**< Default variant*/
+#endif
+
+/**
+ * @brief Default sensor parameters.
+ */
+#ifndef PAA5100JE_PARAMS
+#  define PAA5100JE_PARAMS            { .spi = PAA5100JE_PARAM_SPI,     \
+                                        .clk = PAA5100JE_PARAM_SPI_CLK, \
+                                        .cs  = PAA5100JE_PARAM_CS, \
+                                        .var = PAA5100JE_PARAM_VAR }
+#endif
+
+/**
+ * @brief Default driver SAUL registry information
+ */
+#ifndef PAA5100JE_SAUL_INFO
+#  define PAA5100JE_SAUL_INFO         { .name = "Flow Sensor (PAA5100JE/PMW3901)" }
+#endif
+
+/**@}*/
+
+/**
+ * @brief Default configuration parameters
+ */
+static const paa5100je_params_t paa5100je_params[] =
+{
+    PAA5100JE_PARAMS
+};
+
+/**
+ * @brief Additional meta information to keep in the SAUL registry
+ */
+static const saul_reg_info_t paa5100je_saul_info[] =
+{
+    PAA5100JE_SAUL_INFO
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+/** @} */
diff --git a/drivers/paa5100je/paa5100je.c b/drivers/paa5100je/paa5100je.c
new file mode 100644
index 0000000000..ddf8504138
--- /dev/null
+++ b/drivers/paa5100je/paa5100je.c
@@ -0,0 +1,430 @@
+/*
+ * SPDX-FileCopyrightText: 2025 TU Dresden
+ * SPDX-License-Identifier: LGPL-2.1-only
+ */
+
+/**
+ * @ingroup     drivers_paa5100je
+ * @{
+ *
+ * @file
+ * @brief       Device driver implementation for the PAA5100JE/PMW3901 optical flow sensor
+ *
+ * @author      Leonard Herbst <leonard.herbst@tu-dresden.de>
+ *
+ * @}
+ */
+
+#include "paa5100je.h"
+#include "paa5100je_constants.h"
+#include "paa5100je_params.h"
+#include "ztimer.h"
+#include "macros/utils.h"
+#include "log.h"
+#include <stdio.h>
+
+#define PAA5100JE_CMD_READ   (0b00000000) /**< Mask applied to a register address when reading */
+#define PAA5100JE_CMD_WRITE  (0b10000000) /**< Mask applied to a register address when writing */
+
+/* Prototypes of private functions */
+static uint8_t _read_reg(const paa5100je_t *dev, uint8_t reg);
+static void _read_reg_burst(const paa5100je_t *dev, uint8_t reg, size_t num, uint8_t *buf);
+static void _write_reg(const paa5100je_t *dev, uint8_t reg, uint8_t value);
+static void _prop_init(const paa5100je_t *dev);
+static void _init_paa5100je(const paa5100je_t *dev);
+static void _init_pmw3901(const paa5100je_t *dev);
+
+/* Public API */
+
+int paa5100je_init(paa5100je_t *dev, const paa5100je_params_t *params)
+{
+    assert(dev && params);
+    dev->params = params;
+
+    int res = spi_init_cs(params->spi, params->cs);
+    if (res < 0) {
+        return -ENXIO;
+    }
+    _write_reg(dev, REG_POWER_UP_RESET, 0x5A);
+
+    for (uint8_t offset = 0; offset < 5; offset++) {
+        (void) _read_reg(dev, REG_DATA_READY + offset);
+    }
+
+    _prop_init(dev);
+
+    uint8_t id = _read_reg(dev, REG_ID);
+    uint8_t inv_id = _read_reg(dev, REG_INV_ID);
+    uint8_t rev = _read_reg(dev, REG_REV);
+    if ((id ^ inv_id) != 0xFF || id != 0x49 || rev != 0x00) {
+        LOG_ERROR("[PAA5100JE] Wrong id, inverted id, or unknown revision.\n");
+        return -ENODEV;
+    }
+    return 0;
+}
+
+int paa5100je_get_motion_burst(const paa5100je_t *dev, int16_t *x, int16_t *y)
+{
+    uint8_t data[12];
+    ztimer_now_t start = ztimer_now(ZTIMER_MSEC);
+
+    do {
+        _read_reg_burst(dev, REG_MOTION_BURST, 12, data);
+        /* PixArt who designed the sensor is pretty secretive. The default threshold for the quality
+         * and for the shutter are taken from a reference implementation. */
+        uint8_t data_ready = data[0];
+        uint8_t quality = data[6];
+        uint8_t shutter_upper = data[10];
+        if ((data_ready & 0b10000000)
+            && quality >= CONFIG_PAA5100JE_QUALITY_THRESHOLD
+            && shutter_upper != 0x1F) {
+            *x = (int16_t)(data[3] << 8 | data[2]);
+            *y = (int16_t)(data[5] << 8 | data[4]);
+            /* Apply scaling factor */
+            *x *= 100;
+            *x /= CONFIG_PAA5100JE_SCALE_DENOMINATOR;
+            *y *= 100;
+            *y /= CONFIG_PAA5100JE_SCALE_DENOMINATOR;
+            return 0;
+        }
+        ztimer_sleep(ZTIMER_MSEC, 1);
+    } while (CONFIG_PAA5100JE_TIMEOUT_MS
+             && ztimer_now(ZTIMER_MSEC) < start + CONFIG_PAA5100JE_TIMEOUT_MS);
+    return -ETIME;
+}
+
+int paa5100je_set_led_brightness(const paa5100je_t *dev, const paa5100je_led_brightness_t level)
+{
+    assert(dev);
+    uint8_t reg_val;
+
+    switch (level) {
+    case PAA5100JE_LED_OFF:
+        reg_val = PAA5100JE_LED_OFF_VAL;
+        break;
+    case PAA5100JE_LED_MEDIUM:
+        reg_val = PAA5100JE_LED_MEDIUM_VAL;
+        break;
+    case PAA5100JE_LED_MAX:
+        reg_val = PAA5100JE_LED_MAX_VAL;
+        break;
+    default:
+        return -EINVAL;
+    }
+
+    _write_reg(dev, 0x7F, 0x14);
+    _write_reg(dev, REG_LED_BRIGHTNESS, reg_val);
+    _write_reg(dev, 0x7F, 0x00);
+
+    return 0;
+}
+
+/* Private API */
+
+static uint8_t _read_reg(const paa5100je_t *dev, uint8_t reg)
+{
+    assert(dev);
+    assert(!(reg & 0x10000000));
+
+    uint8_t value;
+
+    spi_acquire(dev->params->spi, dev->params->cs, SPI_MODE_3, dev->params->clk);
+
+    value = spi_transfer_reg(dev->params->spi, dev->params->cs, reg | PAA5100JE_CMD_READ, 0);
+
+    spi_release(dev->params->spi);
+
+    return value;
+}
+
+static void _read_reg_burst(const paa5100je_t *dev, uint8_t reg, size_t num, uint8_t *buf)
+{
+    assert(dev);
+    assert(!(reg & 0x10000000));
+    spi_acquire(dev->params->spi, dev->params->cs, SPI_MODE_3, dev->params->clk);
+    spi_transfer_regs(dev->params->spi, dev->params->cs, reg | PAA5100JE_CMD_READ, NULL, buf, num);
+    spi_release(dev->params->spi);
+}
+
+static void _write_reg(const paa5100je_t *dev, uint8_t reg, uint8_t value)
+{
+    assert(dev);
+    assert(!(reg & 0x10000000));
+
+    spi_acquire(dev->params->spi, dev->params->cs, SPI_MODE_3, dev->params->clk);
+
+    (void) spi_transfer_reg(dev->params->spi, dev->params->cs, (reg | PAA5100JE_CMD_WRITE), value);
+
+    spi_release(dev->params->spi);
+}
+
+/**
+ * @brief Writes a set of magic values to the sensors registers.
+ *
+ * The datasheet does not explain this.
+ * These values and registers are taken from a reference implementation.
+ *
+ * @param[in]   dev    device descriptor
+ */
+static void _prop_init(const paa5100je_t *dev)
+{
+    _write_reg(dev, 0x7F, 0x00);
+    _write_reg(dev, 0x55, 0x01);
+    _write_reg(dev, 0x50, 0x07);
+    _write_reg(dev, 0x7F, 0x0E);
+    _write_reg(dev, 0x43, 0x10);
+
+    int tmp = _read_reg(dev, 0x67);
+    if (tmp & 0b10000000){
+        _write_reg(dev, 0x48, 0x04);
+    }
+    else {
+        _write_reg(dev, 0x48, 0x02);
+    }
+
+    _write_reg(dev, 0x7F, 0x00);
+    _write_reg(dev, 0x51, 0x7B);
+    _write_reg(dev, 0x50, 0x00);
+    _write_reg(dev, 0x55, 0x00);
+    _write_reg(dev, 0x7F, 0x0E);
+
+    tmp = _read_reg(dev, 0x73);
+    if (tmp == 0x00){
+        int c1 = _read_reg(dev, 0x70);
+        int c2 = _read_reg(dev, 0x71);
+        if (c1 <= 28) {
+            c1 += 14;
+        }
+        if (c1 > 28) {
+            c1 += 11;
+        }
+        c1 = MAX(0, MIN(0x3F, c1));
+        c2 = (c2 * 45);
+        _write_reg(dev, 0x7F, 0x00);
+        _write_reg(dev, 0x61, 0xAD);
+        _write_reg(dev, 0x51, 0x70);
+        _write_reg(dev, 0x7F, 0x0E);
+        _write_reg(dev, 0x70, c1);
+        _write_reg(dev, 0x71, c2);
+    }
+
+    if (dev->params->var == PAA5100JE) {
+        _init_paa5100je(dev);
+    }
+    else {
+        _init_pmw3901(dev);
+    }
+}
+
+/**
+ * @brief Writes a set of PAA5100JE specific magic values to the sensors registers.
+ *
+ * @param[in]   dev    device descriptor
+ */
+static void _init_paa5100je(const paa5100je_t *dev)
+{
+    _write_reg(dev, 0x7F, 0x00);
+    _write_reg(dev, 0x61, 0xAD);
+
+    _write_reg(dev, 0x7F, 0x03);
+    _write_reg(dev, 0x40, 0x00);
+
+    _write_reg(dev, 0x7F, 0x05);
+    _write_reg(dev, 0x41, 0xB3);
+    _write_reg(dev, 0x43, 0xF1);
+    _write_reg(dev, 0x45, 0x14);
+
+    _write_reg(dev, 0x5F, 0x34);
+    _write_reg(dev, 0x7B, 0x08);
+    _write_reg(dev, 0x5E, 0x34);
+    _write_reg(dev, 0x5B, 0x11);
+    _write_reg(dev, 0x6D, 0x11);
+    _write_reg(dev, 0x45, 0x17);
+    _write_reg(dev, 0x70, 0xE5);
+    _write_reg(dev, 0x71, 0xE5);
+
+    _write_reg(dev, 0x7F, 0x06);
+    _write_reg(dev, 0x44, 0x1B);
+    _write_reg(dev, 0x40, 0xBF);
+    _write_reg(dev, 0x4E, 0x3F);
+
+    _write_reg(dev, 0x7F, 0x08);
+    _write_reg(dev, 0x66, 0x44);
+    _write_reg(dev, 0x65, 0x20);
+    _write_reg(dev, 0x6A, 0x3A);
+    _write_reg(dev, 0x61, 0x05);
+    _write_reg(dev, 0x62, 0x05);
+
+    _write_reg(dev, 0x7F, 0x09);
+    _write_reg(dev, 0x4F, 0xAF);
+    _write_reg(dev, 0x5F, 0x40);
+    _write_reg(dev, 0x48, 0x80);
+    _write_reg(dev, 0x49, 0x80);
+    _write_reg(dev, 0x57, 0x77);
+    _write_reg(dev, 0x60, 0x78);
+    _write_reg(dev, 0x61, 0x78);
+    _write_reg(dev, 0x62, 0x08);
+    _write_reg(dev, 0x63, 0x50);
+
+    _write_reg(dev, 0x7F, 0x0A);
+    _write_reg(dev, 0x45, 0x60);
+
+    _write_reg(dev, 0x7F, 0x00);
+    _write_reg(dev, 0x4D, 0x11);
+    _write_reg(dev, 0x55, 0x80);
+    _write_reg(dev, 0x74, 0x21);
+    _write_reg(dev, 0x75, 0x1F);
+    _write_reg(dev, 0x4A, 0x78);
+    _write_reg(dev, 0x4B, 0x78);
+    _write_reg(dev, 0x44, 0x08);
+
+    _write_reg(dev, 0x45, 0x50);
+    _write_reg(dev, 0x64, 0xFF);
+    _write_reg(dev, 0x65, 0x1F);
+
+    _write_reg(dev, 0x7F, 0x14);
+    _write_reg(dev, 0x65, 0x67);
+    _write_reg(dev, 0x66, 0x08);
+    _write_reg(dev, 0x63, 0x70);
+    _write_reg(dev, 0x6F, 0x1C);
+
+    _write_reg(dev, 0x7F, 0x15);
+    _write_reg(dev, 0x48, 0x48);
+
+    _write_reg(dev, 0x7F, 0x07);
+    _write_reg(dev, 0x41, 0x0D);
+    _write_reg(dev, 0x43, 0x14);
+    _write_reg(dev, 0x4B, 0x0E);
+    _write_reg(dev, 0x45, 0x0F);
+    _write_reg(dev, 0x44, 0x42);
+    _write_reg(dev, 0x4C, 0x80);
+
+    _write_reg(dev, 0x7F, 0x10);
+    _write_reg(dev, 0x5B, 0x02);
+
+    _write_reg(dev, 0x7F, 0x07);
+    _write_reg(dev, 0x40, 0x41);
+
+    ztimer_sleep(ZTIMER_MSEC, 100);
+
+    _write_reg(dev, 0x7F, 0x00);
+    _write_reg(dev, 0x32, 0x00);
+
+    _write_reg(dev, 0x7F, 0x07);
+    _write_reg(dev, 0x40, 0x40);
+
+    _write_reg(dev, 0x7F, 0x06);
+    _write_reg(dev, 0x68, 0xF0);
+    _write_reg(dev, 0x69, 0x00);
+
+    _write_reg(dev, 0x7F, 0x0D);
+    _write_reg(dev, 0x48, 0xC0);
+    _write_reg(dev, 0x6F, 0xD5);
+
+    _write_reg(dev, 0x7F, 0x00);
+    _write_reg(dev, 0x5B, 0xA0);
+    _write_reg(dev, 0x4E, 0xA8);
+    _write_reg(dev, 0x5A, 0x90);
+    _write_reg(dev, 0x40, 0x80);
+    _write_reg(dev, 0x73, 0x1F);
+
+    ztimer_sleep(ZTIMER_MSEC, 100);
+
+    _write_reg(dev, 0x73, 0x00);
+}
+
+/**
+ * @brief Writes a set of PMW301 specific magic values to the sensors registers.
+ *
+ * @param[in]   dev    device descriptor
+ */
+static void _init_pmw3901(const paa5100je_t *dev)
+{
+    _write_reg(dev, 0x7F, 0x00);
+    _write_reg(dev, 0x61, 0xAD);
+    _write_reg(dev, 0x7F, 0x03);
+    _write_reg(dev, 0x40, 0x00);
+    _write_reg(dev, 0x7F, 0x05);
+
+    _write_reg(dev, 0x41, 0xB3);
+    _write_reg(dev, 0x43, 0xF1);
+    _write_reg(dev, 0x45, 0x14);
+    _write_reg(dev, 0x5B, 0x32);
+    _write_reg(dev, 0x5F, 0x34);
+    _write_reg(dev, 0x7B, 0x08);
+    _write_reg(dev, 0x7F, 0x06);
+    _write_reg(dev, 0x44, 0x1B);
+    _write_reg(dev, 0x40, 0xBF);
+    _write_reg(dev, 0x4E, 0x3F);
+    _write_reg(dev, 0x7F, 0x08);
+    _write_reg(dev, 0x65, 0x20);
+    _write_reg(dev, 0x6A, 0x18);
+
+    _write_reg(dev, 0x7F, 0x09);
+    _write_reg(dev, 0x4F, 0xAF);
+    _write_reg(dev, 0x5F, 0x40);
+    _write_reg(dev, 0x48, 0x80);
+    _write_reg(dev, 0x49, 0x80);
+
+    _write_reg(dev, 0x57, 0x77);
+    _write_reg(dev, 0x60, 0x78);
+    _write_reg(dev, 0x61, 0x78);
+    _write_reg(dev, 0x62, 0x08);
+    _write_reg(dev, 0x63, 0x50);
+    _write_reg(dev, 0x7F, 0x0A);
+    _write_reg(dev, 0x45, 0x60);
+    _write_reg(dev, 0x7F, 0x00);
+    _write_reg(dev, 0x4D, 0x11);
+
+    _write_reg(dev, 0x55, 0x80);
+    _write_reg(dev, 0x74, 0x1F);
+    _write_reg(dev, 0x75, 0x1F);
+    _write_reg(dev, 0x4A, 0x78);
+    _write_reg(dev, 0x4B, 0x78);
+
+    _write_reg(dev, 0x44, 0x08);
+    _write_reg(dev, 0x45, 0x50);
+    _write_reg(dev, 0x64, 0xFF);
+    _write_reg(dev, 0x65, 0x1F);
+    _write_reg(dev, 0x7F, 0x14);
+    _write_reg(dev, 0x65, 0x60);
+    _write_reg(dev, 0x66, 0x08);
+    _write_reg(dev, 0x63, 0x78);
+    _write_reg(dev, 0x7F, 0x15);
+    _write_reg(dev, 0x48, 0x58);
+    _write_reg(dev, 0x7F, 0x07);
+    _write_reg(dev, 0x41, 0x0D);
+    _write_reg(dev, 0x43, 0x14);
+
+    _write_reg(dev, 0x4B, 0x0E);
+    _write_reg(dev, 0x45, 0x0F);
+    _write_reg(dev, 0x44, 0x42);
+    _write_reg(dev, 0x4C, 0x80);
+    _write_reg(dev, 0x7F, 0x10);
+    _write_reg(dev, 0x5B, 0x02);
+    _write_reg(dev, 0x7F, 0x07);
+    _write_reg(dev, 0x40, 0x41);
+    _write_reg(dev, 0x70, 0x00);
+
+    ztimer_sleep(ZTIMER_MSEC, 100);
+    _write_reg(dev, 0x32, 0x44);
+    _write_reg(dev, 0x7F, 0x07);
+    _write_reg(dev, 0x40, 0x40);
+    _write_reg(dev, 0x7F, 0x06);
+    _write_reg(dev, 0x62, 0xF0);
+    _write_reg(dev, 0x63, 0x00);
+    _write_reg(dev, 0x7F, 0x0D);
+    _write_reg(dev, 0x48, 0xC0);
+    _write_reg(dev, 0x6F, 0xD5);
+    _write_reg(dev, 0x7F, 0x00);
+
+    _write_reg(dev, 0x5B, 0xA0);
+    _write_reg(dev, 0x4E, 0xA8);
+    _write_reg(dev, 0x5A, 0x50);
+    _write_reg(dev, 0x40, 0x80);
+
+    ztimer_sleep(ZTIMER_MSEC, 100);
+    _write_reg(dev, 0x7F, 0x14);
+    _write_reg(dev, 0x6F, 0x1C);
+    _write_reg(dev, 0x7F, 0x00);
+}
diff --git a/drivers/paa5100je/paa5100je_saul.c b/drivers/paa5100je/paa5100je_saul.c
new file mode 100644
index 0000000000..8de0472f06
--- /dev/null
+++ b/drivers/paa5100je/paa5100je_saul.c
@@ -0,0 +1,40 @@
+/*
+ * SPDX-FileCopyrightText: 2025 TU Dresden
+ * SPDX-License-Identifier: LGPL-2.1-only
+ */
+
+/**
+ * @ingroup     drivers_paa5100je
+ * @{
+ *
+ * @file
+ * @brief       SAUL adaption for the PAA5100JE/PMW3901 optical flow sensor
+ *
+ * The data being read from the sensor represents the relative motion since the last readout.
+ * It depends on the surface, lighting conditions, and the sensor’s distance from the ground.
+ *
+ * @author      Leonard Herbst <leonard.herbst@tu-dresden.de>
+ *
+ * @}
+ */
+
+#include "saul.h"
+#include "paa5100je.h"
+
+static int read_motion(const void *dev, phydat_t *res)
+{
+    int err = paa5100je_get_motion_burst((paa5100je_t *) dev, &res->val[0], &res->val[1]);
+    if (err) {
+        return -ECANCELED;
+    }
+    res->unit = UNIT_M;
+    res->scale = -3;
+
+    return 2;
+}
+
+const saul_driver_t paa5100je_saul_driver = {
+    .read = read_motion,
+    .write = saul_write_notsup,
+    .type = SAUL_SENSE_DISTANCE,
+};
diff --git a/drivers/saul/init_devs/auto_init_paa5100je.c b/drivers/saul/init_devs/auto_init_paa5100je.c
new file mode 100644
index 0000000000..0d155a1508
--- /dev/null
+++ b/drivers/saul/init_devs/auto_init_paa5100je.c
@@ -0,0 +1,67 @@
+/*
+ * SPDX-FileCopyrightText: 2025 TU Dresden
+ * SPDX-License-Identifier: LGPL-2.1-only
+ */
+
+/**
+ * @ingroup     drivers_paa5100je
+ * @{
+ *
+ * @file
+ * @brief       Auto initialization for PAA5100JE/PMW3901 Optical Flow Sensors
+ *
+ * @author      Leonard Herbst <leonard.herbst@tu-dresden.de>
+ *
+ * @}
+ */
+
+#include "assert.h"
+#include "log.h"
+#include "saul_reg.h"
+#include "paa5100je.h"
+#include "paa5100je_params.h"
+
+/**
+ * @brief   Define the number of configured sensors
+ */
+#define PAA5100JE_NUM     ARRAY_SIZE(paa5100je_params)
+
+/**
+ * @brief   Allocate memory for the device descriptors
+ */
+static paa5100je_t paa5100je_devs[PAA5100JE_NUM];
+
+/**
+ * @brief   Allocate Memory for the SAUL registry entry
+ */
+static saul_reg_t saul_entries[PAA5100JE_NUM];
+
+/**
+ * @brief   Define the number of saul info
+ */
+#define PAA5100JE_INFO_NUM ARRAY_SIZE(paa5100je_saul_info)
+
+/**
+ * @name    Import SAUL endpoint
+ * @{
+ */
+extern const saul_driver_t paa5100je_saul_driver;
+
+void auto_init_paa5100je(void)
+{
+    assert(PAA5100JE_INFO_NUM == PAA5100JE_NUM);
+
+    for (unsigned int i = 0; i < PAA5100JE_NUM; i++) {
+        LOG_DEBUG("[auto_init_saul] initializing paa5100je #%u\n", i);
+
+        if (paa5100je_init(&paa5100je_devs[i], &paa5100je_params[i]) != 0) {
+            LOG_ERROR("[auto_init_saul] error initializing paa5100je #%u\n", i);
+            continue;
+        }
+
+        saul_entries[i].dev = &(paa5100je_devs[i]);
+        saul_entries[i].name = paa5100je_saul_info[i].name;
+        saul_entries[i].driver = &paa5100je_saul_driver;
+        saul_reg_add(&saul_entries[i]);
+    }
+}
diff --git a/drivers/saul/init_devs/init.c b/drivers/saul/init_devs/init.c
index c6cdad13db..9a1a660ee0 100644
--- a/drivers/saul/init_devs/init.c
+++ b/drivers/saul/init_devs/init.c
@@ -255,6 +255,10 @@ void saul_init_devs(void)
         extern void auto_init_opt3001(void);
         auto_init_opt3001();
     }
+    if (IS_USED(MODULE_PAA5100JE)) {
+        extern void auto_init_paa5100je(void);
+        auto_init_paa5100je();
+    }
     if (IS_USED(MODULE_PCA9685)) {
         extern void auto_init_pca9685(void);
         auto_init_pca9685();
diff --git a/tests/drivers/paa5100je/Makefile b/tests/drivers/paa5100je/Makefile
new file mode 100644
index 0000000000..9b07eb437c
--- /dev/null
+++ b/tests/drivers/paa5100je/Makefile
@@ -0,0 +1,6 @@
+include ../Makefile.drivers_common
+
+USEMODULE += paa5100je
+USEMODULE += ztimer
+
+include $(RIOTBASE)/Makefile.include
\ No newline at end of file
diff --git a/tests/drivers/paa5100je/Makefile.ci b/tests/drivers/paa5100je/Makefile.ci
new file mode 100644
index 0000000000..72db76ccb5
--- /dev/null
+++ b/tests/drivers/paa5100je/Makefile.ci
@@ -0,0 +1,3 @@
+BOARD_INSUFFICIENT_MEMORY := \
+    atmega8 \
+    #
diff --git a/tests/drivers/paa5100je/README.md b/tests/drivers/paa5100je/README.md
new file mode 100644
index 0000000000..71b66c963d
--- /dev/null
+++ b/tests/drivers/paa5100je/README.md
@@ -0,0 +1,11 @@
+# About
+This is a manual test application for the PAA5100JE/PMW3901 optical flow sensor
+driver. It reads motion data from the sensor and prints it to the console.
+
+To run the test, connect the PAA5100JE/PMW3901 sensor to your MCU.
+The sensor uses SPI for communication, so make sure to connect the SPI pins
+correctly. You will also need to connect the chip select (CS) pin and power
+the sensor with 3.3V to 5.0V and GND.
+
+Before running the test, you may need to adjust the pin configuration and select
+the right version of the sensor (PAA5100JE or PMW3901).
diff --git a/tests/drivers/paa5100je/main.c b/tests/drivers/paa5100je/main.c
new file mode 100644
index 0000000000..ebbb3e0f84
--- /dev/null
+++ b/tests/drivers/paa5100je/main.c
@@ -0,0 +1,71 @@
+/*
+ * SPDX-FileCopyrightText: 2025 TU Dresden
+ * SPDX-License-Identifier: LGPL-2.1-only
+ */
+
+/**
+ * @ingroup tests
+ * @{
+ *
+ * @file
+ * @brief       Test application for the PAA5100JE/PMW3901 optical flow sensor driver
+ *
+ * @author      Leonard Herbst <leonard.herbst@tu-dresden.de>
+ *
+ * @}
+ */
+
+#include <stdio.h>
+
+#include "paa5100je.h"
+#include "paa5100je_params.h"
+#include "ztimer.h"
+
+static paa5100je_t dev;
+
+int main(void)
+{
+    puts("PAA5100JE/PMW3901 Optical Flow Sensor Test Application...");
+    int ret = paa5100je_init(&dev, &paa5100je_params[0]);
+    if (ret == 0) {
+        puts("[OK]");
+    }
+    else if (ret == -ENXIO) {
+        puts("Error: Invalid SPI device!");
+        return -1;
+    }
+    else if (ret == -ENODEV) {
+        puts("Error: Invalid SPI CS pin/line or wrong device id or revision!");
+        return -1;
+    }
+    else {
+        printf("Error: Unknown error during initialization! (%d)\n", ret);
+        return -1;
+    }
+
+    puts("Setting LED brightness to maximum.");
+    if (paa5100je_set_led_brightness(&dev, PAA5100JE_LED_MAX) != 0) {
+        puts("Error: Could not set LED brightness!");
+        return -1;
+    }
+
+    puts("Printing sensor state every second.");
+
+    int16_t x = 0;
+    int16_t y = 0;
+    int16_t delta_x = 0;
+    int16_t delta_y = 0;
+
+    do {
+        ret = paa5100je_get_motion_burst(&dev, &delta_x, &delta_y);
+        if (ret == 0) {
+            x += delta_x;
+            y += delta_y;
+            printf("Relative Motion  : x:%d, y:%d\n", delta_x, delta_y);
+            printf("Absolute Position: x=%d, y=%d\n", x, y);
+        }
+        ztimer_sleep(ZTIMER_MSEC, 250);
+    } while (1);
+
+    return 0;
+}