diff --git a/sys/auto_init/auto_init.c b/sys/auto_init/auto_init.c
index c482210bf5..d9fa5bccf3 100644
--- a/sys/auto_init/auto_init.c
+++ b/sys/auto_init/auto_init.c
@@ -314,6 +314,10 @@ auto_init_mpu9150();
     extern void auto_init_tsl2561(void);
     auto_init_tsl2561();
 #endif
+#ifdef MODULE_PULSE_COUNTER
+    extern void auto_init_pulse_counter(void);
+    auto_init_pulse_counter();
+#endif
 #ifdef MODULE_HDC1000
     extern void auto_init_hdc1000(void);
     auto_init_hdc1000();
diff --git a/sys/auto_init/saul/auto_init_pulse_counter.c b/sys/auto_init/saul/auto_init_pulse_counter.c
new file mode 100644
index 0000000000..c5bf0438bb
--- /dev/null
+++ b/sys/auto_init/saul/auto_init_pulse_counter.c
@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2017 UC Berkeley
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ */
+
+/*
+ * @ingroup     auto_init_saul
+ * @{
+ *
+ * @file
+ * @brief       Auto initialization for PULSE_COUNTER devices
+ *
+ * @author      Hyung-Sin Kim <hs.kim@cs.berkeley.edu>
+ *
+ * @}
+ */
+
+#ifdef MODULE_PULSE_COUNTER
+
+#include "log.h"
+#include "saul_reg.h"
+#include "pulse_counter_params.h"
+
+/**
+ * @brief   Define the number of configured sensors
+ */
+#define PULSE_COUNTER_NUM    (sizeof(pulse_counter_params) / sizeof(pulse_counter_params[0]))
+
+/**
+ * @brief   Allocate memory for the device descriptors
+ */
+static pulse_counter_t pulse_counter_devs[PULSE_COUNTER_NUM];
+
+/**
+ * @brief   Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[PULSE_COUNTER_NUM];
+
+/**
+ * @brief   Define the number of configured sensors
+ */
+#define PULSE_COUNTER_INFO_NUM    (sizeof(pulse_counter_saul_info) / sizeof(pulse_counter_saul_info[0]))
+
+/**
+ * @brief   Reference the driver struct
+ */
+extern saul_driver_t pulse_counter_saul_driver;
+
+void auto_init_pulse_counter(void)
+{
+    assert(PULSE_COUNTER_NUM == PULSE_COUNTER_INFO_NUM)
+    for (unsigned i = 0; i < PULSE_COUNTER_NUM; i++) {
+        LOG_DEBUG("[auto_init_saul] initializing pulse_counter #%u\n", i);
+
+        int res = pulse_counter_init(&pulse_counter_devs[i], &pulse_counter_params[i]);
+        if (res != 0) {
+            LOG_ERROR("[auto_init_saul] error initializing pulse_counter #%u\n", i);
+        }
+        else {
+            saul_entries[i].dev = &(pulse_counter_devs[i]);
+            saul_entries[i].name = pulse_counter_saul_info[i].name;
+            saul_entries[i].driver = &pulse_counter_saul_driver;
+            saul_reg_add(&(saul_entries[i]));
+        }
+    }
+}
+
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_PULSE_COUNTER */