diff --git a/boards/msbiot/Makefile.dep b/boards/msbiot/Makefile.dep
index c1c23ead69..cc3b8008fe 100644
--- a/boards/msbiot/Makefile.dep
+++ b/boards/msbiot/Makefile.dep
@@ -6,7 +6,7 @@ endif
 ifneq (,$(filter saul_default,$(USEMODULE)))
   USEMODULE += saul_gpio
 endif
-# add support for the MPU-9150 as default saul device
+# add support for the MPU-9X50 as default saul device
 ifneq (,$(filter saul_default,$(USEMODULE)))
-  USEMODULE += mpu9150
+  USEMODULE += mpu9x50
 endif
diff --git a/boards/msbiot/doc.txt b/boards/msbiot/doc.txt
index cb29178226..9fb2484e6c 100644
--- a/boards/msbiot/doc.txt
+++ b/boards/msbiot/doc.txt
@@ -150,28 +150,28 @@ on the inclusion.
 | IRQ Line                  | PA10                                                              |
 
 
-### MPU-9150 Nine-Axis MotionTracking Device
+### MPU-9X50 Nine-Axis MotionTracking Device
 
-The MSB-IoT is equipped with a MPU-9150 MotionTracking Device from
+The MSB-IoT is equipped with a MPU-9X50 MotionTracking Device from
 Invensense. The device combines a gyroscope, a magnetometer and an accelerometer
 in one module.
 
-Due to licensing issues, the current MPU-9150 driver implementation for RIOT
+Due to licensing issues, the current MPU-9X50 driver implementation for RIOT
 is not based on Invensense's 'Motion Driver' library and offers only a limited
 set of features. Nonetheless, the RIOT driver allows to configure and read
 values from all three sensors of the device. For an overview on the supported
-features, you can check the driver's documentation in @ref drivers_mpu9150.
+features, you can check the driver's documentation in @ref drivers_mpu9x50.
 
-A sample RIOT application for the MPU-9150 that utilizes the driver can be
-found [here](https://github.com/RIOT-OS/RIOT/tree/master/tests/driver_mpu9150).
+A sample RIOT application for the MPU-9X50 that utilizes the driver can be
+found [here](https://github.com/RIOT-OS/RIOT/tree/master/tests/driver_mpu9x50).
 
-| Product               | MPU-9150                                                                                          |
+| Product               | MPU-9X50                                                                                          |
 |:--------------------- |:------------------------------------------------------------------------------------------------- |
 | Type                  | Nine-Axis MotionTracking Device (Gyro, Accel and Compass)                                         |
 | Vendor                | Invensense                                                                                        |
-| Product Specification | [Product Specification](http://www.invensense.com/mems/gyro/documents/PS-MPU-9150A-00v4_3.pdf)    |
-| Register Map          | [Register Map](http://www.invensense.com/mems/gyro/documents/RM-MPU-9150A-00v4_2.pdf)             |
-| Driver                | @ref drivers_mpu9150                                                                              |
+| Product Specification | [Product Specification](http://www.invensense.com/mems/gyro/documents/PS-MPU-9X50A-00v4_3.pdf)    |
+| Register Map          | [Register Map](http://www.invensense.com/mems/gyro/documents/RM-MPU-9X50A-00v4_2.pdf)             |
+| Driver                | @ref drivers_mpu9x50                                                                              |
 | I²C Device            | I2C1 (Mapped to I2C_0 in RIOT)                                                                    |
 | SCL                   | PB6                                                                                               |
 | SDA                   | PB7                                                                                               |
diff --git a/drivers/Makefile.dep b/drivers/Makefile.dep
index 920a2aec7d..809481608f 100644
--- a/drivers/Makefile.dep
+++ b/drivers/Makefile.dep
@@ -322,9 +322,10 @@ ifneq (,$(filter mpl3115a2,$(USEMODULE)))
   FEATURES_REQUIRED += periph_i2c
 endif
 
-ifneq (,$(filter mpu9150,$(USEMODULE)))
+ifneq (,$(filter mpu9%50,$(USEMODULE)))
   FEATURES_REQUIRED += periph_i2c
   USEMODULE += xtimer
+  USEMODULE += mpu9x50
 endif
 
 ifneq (,$(filter mq3,$(USEMODULE)))
diff --git a/drivers/Makefile.include b/drivers/Makefile.include
index 0754596fcc..5cc2aa3b3b 100644
--- a/drivers/Makefile.include
+++ b/drivers/Makefile.include
@@ -194,8 +194,8 @@ ifneq (,$(filter mpl3115a2,$(USEMODULE)))
   USEMODULE_INCLUDES += $(RIOTBASE)/drivers/mpl3115a2/include
 endif
 
-ifneq (,$(filter mpu9150,$(USEMODULE)))
-  USEMODULE_INCLUDES += $(RIOTBASE)/drivers/mpu9150/include
+ifneq (,$(filter mpu9x50,$(USEMODULE)))
+  USEMODULE_INCLUDES += $(RIOTBASE)/drivers/mpu9x50/include
 endif
 
 ifneq (,$(filter mrf24j40,$(USEMODULE)))
diff --git a/drivers/include/mpu9150.h b/drivers/include/mpu9x50.h
similarity index 56%
rename from drivers/include/mpu9150.h
rename to drivers/include/mpu9x50.h
index a6ff986fbb..206765c38c 100644
--- a/drivers/include/mpu9150.h
+++ b/drivers/include/mpu9x50.h
@@ -1,5 +1,6 @@
 /*
  * Copyright (C) 2015 Freie Universität Berlin
+ *               2019 HAW Hamburg
  *
  * 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
@@ -7,22 +8,23 @@
  */
 
 /**
- * @defgroup    drivers_mpu9150 MPU-9150 accelerometer/magnetometer/gyroscope
+ * @defgroup    drivers_mpu9x50 MPU-9X50 (MPU9150 and MPU9250) accelerometer/magnetometer/gyroscope
  * @ingroup     drivers_sensors
  * @ingroup     drivers_saul
- * @brief       Device driver interface for the MPU-9150
+ * @brief       Device driver interface for the MPU-9X50 (MPU9150 and MPU9250)
  *
  * This driver provides @ref drivers_saul capabilities.
  * @{
  *
  * @file
- * @brief       Device driver interface for the MPU-9150
+ * @brief       Device driver interface for the MPU-9X50 (MPU9150 and MPU9250)
  *
  * @author      Fabian Nack <nack@inf.fu-berlin.de>
+ * @author      Jannes Volkens <jannes.volkens@haw-hamburg.de>
  */
 
-#ifndef MPU9150_H
-#define MPU9150_H
+#ifndef MPU9X50_H
+#define MPU9X50_H
 
 #include "periph/i2c.h"
 
@@ -34,278 +36,293 @@ extern "C" {
  * @name    Sample rate macro definitions
  * @{
  */
-#define MPU9150_MIN_SAMPLE_RATE     (4)
-#define MPU9150_MAX_SAMPLE_RATE     (1000)
-#define MPU9150_DEFAULT_SAMPLE_RATE (50)
-#define MPU9150_MIN_COMP_SMPL_RATE  (1)
-#define MPU9150_MAX_COMP_SMPL_RATE  (100)
+#define MPU9X50_MIN_SAMPLE_RATE     (4)
+#define MPU9X50_MAX_SAMPLE_RATE     (1000)
+#define MPU9X50_DEFAULT_SAMPLE_RATE (50)
+#define MPU9X50_MIN_COMP_SMPL_RATE  (1)
+#define MPU9X50_MAX_COMP_SMPL_RATE  (100)
 /** @} */
 
 /**
  * @name    Power Management 1 register macros
  * @{
  */
-#define MPU9150_PWR_WAKEUP          (0x00)
-#define MPU9150_PWR_PLL             (0x01)
-#define MPU9150_PWR_RESET           (0x80)
+#define MPU9X50_PWR_WAKEUP          (0x00)
+#define MPU9X50_PWR_PLL             (0x01)
+#define MPU9X50_PWR_RESET           (0x80)
 /** @} */
 
 /**
  * @name    Power Management 2 register macros
  * @{
  */
-#define MPU9150_PWR_GYRO            (0x07)
-#define MPU9150_PWR_ACCEL           (0x38)
+#define MPU9X50_PWR_GYRO            (0x07)
+#define MPU9X50_PWR_ACCEL           (0x38)
 /** @} */
 
 /**
  * @name    Sleep times in microseconds
  * @{
  */
-#define MPU9150_COMP_MODE_SLEEP_US  (1000)
-#define MPU9150_BYPASS_SLEEP_US     (3000)
-#define MPU9150_PWR_CHANGE_SLEEP_US (50000)
-#define MPU9150_RESET_SLEEP_US      (100000)
+#define MPU9X50_COMP_MODE_SLEEP_US  (1000)
+#define MPU9X50_BYPASS_SLEEP_US     (3000)
+#define MPU9X50_PWR_CHANGE_SLEEP_US (50000)
+#define MPU9X50_RESET_SLEEP_US      (100000)
 /** @} */
 
 /**
- * @name    MPU-9150 compass operating modes and reg values
+ * @name    MPU-9X50 compass operating modes and reg values
  * @{
  */
-#define MPU9150_COMP_POWER_DOWN     (0x00)
-#define MPU9150_COMP_SINGLE_MEASURE (0x01)
-#define MPU9150_COMP_SELF_TEST      (0x08)
-#define MPU9150_COMP_FUSE_ROM       (0x0F)
-#define MPU9150_COMP_WHOAMI_ANSWER  (0x48)
+#define MPU9X50_COMP_POWER_DOWN     (0x00)
+#define MPU9X50_COMP_SINGLE_MEASURE (0x01)
+#define MPU9X50_COMP_SELF_TEST      (0x08)
+#define MPU9X50_COMP_FUSE_ROM       (0x0F)
+#define MPU9X50_COMP_WHOAMI_ANSWER  (0x48)  /**< MPU9X50 WHO_AM_I answer register */
+/** @} */
+
+/**
+ * @ingroup  config
+ * @{
+ */
+#ifdef MODULE_MPU9150
+#define MPU9X50_TEMP_SENSITIVITY    340
+#define MPU9X50_TEMP_OFFSET         35
+#elif MODULE_MPU9250
+#define MPU9X50_TEMP_SENSITIVITY    333.87
+#define MPU9X50_TEMP_OFFSET         21
+#else
+#error "MPU9X50 DRIVER not selected or supported"
+#endif
 /** @} */
 
 /**
  * @brief   Power enum values
  */
 typedef enum {
-    MPU9150_SENSOR_PWR_OFF = 0x00,
-    MPU9150_SENSOR_PWR_ON = 0x01,
-} mpu9150_pwr_t;
+    MPU9X50_SENSOR_PWR_OFF = 0x00,
+    MPU9X50_SENSOR_PWR_ON = 0x01,
+} mpu9x50_pwr_t;
 
 /**
- * @brief   Possible MPU-9150 hardware addresses (wiring specific)
+ * @brief   Possible MPU-9X50 hardware addresses (wiring specific)
  */
 typedef enum {
-    MPU9150_HW_ADDR_HEX_68 = 0x68,
-    MPU9150_HW_ADDR_HEX_69 = 0x69,
-} mpu9150_hw_addr_t;
+    MPU9X50_HW_ADDR_HEX_68 = 0x68,
+    MPU9X50_HW_ADDR_HEX_69 = 0x69,
+} mpu9x50_hw_addr_t;
 
 /**
  * @brief   Possible compass addresses (wiring specific)
  */
 typedef enum {
-    MPU9150_COMP_ADDR_HEX_0C = 0x0C,
-    MPU9150_COMP_ADDR_HEX_0D = 0x0D,
-    MPU9150_COMP_ADDR_HEX_0E = 0x0E,
-    MPU9150_COMP_ADDR_HEX_0F = 0x0F,
-} mpu9150_comp_addr_t;
+    MPU9X50_COMP_ADDR_HEX_0C = 0x0C,
+    MPU9X50_COMP_ADDR_HEX_0D = 0x0D,
+    MPU9X50_COMP_ADDR_HEX_0E = 0x0E,
+    MPU9X50_COMP_ADDR_HEX_0F = 0x0F,
+} mpu9x50_comp_addr_t;
 
 /**
  * @brief   Possible full scale ranges for the gyroscope
  */
 typedef enum {
-    MPU9150_GYRO_FSR_250DPS = 0x00,
-    MPU9150_GYRO_FSR_500DPS = 0x01,
-    MPU9150_GYRO_FSR_1000DPS = 0x02,
-    MPU9150_GYRO_FSR_2000DPS = 0x03,
-} mpu9150_gyro_ranges_t;
+    MPU9X50_GYRO_FSR_250DPS = 0x00,
+    MPU9X50_GYRO_FSR_500DPS = 0x01,
+    MPU9X50_GYRO_FSR_1000DPS = 0x02,
+    MPU9X50_GYRO_FSR_2000DPS = 0x03,
+} mpu9x50_gyro_ranges_t;
 
 /**
  * @brief   Possible full scale ranges for the accelerometer
  */
 typedef enum {
-    MPU9150_ACCEL_FSR_2G = 0x00,
-    MPU9150_ACCEL_FSR_4G = 0x01,
-    MPU9150_ACCEL_FSR_8G = 0x02,
-    MPU9150_ACCEL_FSR_16G = 0x03,
-} mpu9150_accel_ranges_t;
+    MPU9X50_ACCEL_FSR_2G = 0x00,
+    MPU9X50_ACCEL_FSR_4G = 0x01,
+    MPU9X50_ACCEL_FSR_8G = 0x02,
+    MPU9X50_ACCEL_FSR_16G = 0x03,
+} mpu9x50_accel_ranges_t;
 
 /**
  * @brief   Possible low pass filter values
  */
 typedef enum {
-    MPU9150_FILTER_188HZ = 0x01,
-    MPU9150_FILTER_98HZ = 0x02,
-    MPU9150_FILTER_42HZ = 0x03,
-    MPU9150_FILTER_20HZ = 0x04,
-    MPU9150_FILTER_10HZ = 0x05,
-    MPU9150_FILTER_5HZ = 0x06,
-} mpu9150_lpf_t;
+    MPU9X50_FILTER_188HZ = 0x01,
+    MPU9X50_FILTER_98HZ = 0x02,
+    MPU9X50_FILTER_42HZ = 0x03,
+    MPU9X50_FILTER_20HZ = 0x04,
+    MPU9X50_FILTER_10HZ = 0x05,
+    MPU9X50_FILTER_5HZ = 0x06,
+} mpu9x50_lpf_t;
 
 /**
- * @brief   MPU-9150 result vector struct
+ * @brief   MPU-9X50 result vector struct
  */
 typedef struct {
     int16_t x_axis;             /**< X-Axis measurement result */
     int16_t y_axis;             /**< Y-Axis measurement result */
     int16_t z_axis;             /**< Z-Axis measurement result */
-} mpu9150_results_t;
+} mpu9x50_results_t;
 
 /**
- * @brief   Configuration struct for the MPU-9150 sensor
+ * @brief   Configuration struct for the MPU-9X50 sensor
  */
 typedef struct {
-    mpu9150_pwr_t accel_pwr;            /**< Accel power status (on/off) */
-    mpu9150_pwr_t gyro_pwr;             /**< Gyro power status (on/off) */
-    mpu9150_pwr_t compass_pwr;          /**< Compass power status (on/off) */
-    mpu9150_gyro_ranges_t gyro_fsr;     /**< Configured gyro full-scale range */
-    mpu9150_accel_ranges_t accel_fsr;   /**< Configured accel full-scale range */
+    mpu9x50_pwr_t accel_pwr;            /**< Accel power status (on/off) */
+    mpu9x50_pwr_t gyro_pwr;             /**< Gyro power status (on/off) */
+    mpu9x50_pwr_t compass_pwr;          /**< Compass power status (on/off) */
+    mpu9x50_gyro_ranges_t gyro_fsr;     /**< Configured gyro full-scale range */
+    mpu9x50_accel_ranges_t accel_fsr;   /**< Configured accel full-scale range */
     uint16_t sample_rate;               /**< Configured sample rate for accel and gyro */
     uint8_t compass_sample_rate;        /**< Configured compass sample rate */
     uint8_t compass_x_adj;              /**< Compass X-Axis sensitivity adjustment value */
     uint8_t compass_y_adj;              /**< Compass Y-Axis sensitivity adjustment value */
     uint8_t compass_z_adj;              /**< Compass Z-Axis sensitivity adjustment value */
-} mpu9150_status_t;
+} mpu9x50_status_t;
 
 /**
  * @brief   Device initialization parameters
  */
 typedef struct {
     i2c_t i2c;                  /**< I2C device which is used */
-    uint8_t addr;               /**< Hardware address of the MPU-9150 */
-    uint8_t comp_addr;          /**< Address of the MPU-9150s compass */
+    uint8_t addr;               /**< Hardware address of the MPU-9X50 */
+    uint8_t comp_addr;          /**< Address of the MPU-9X50s compass */
     uint16_t sample_rate;       /**< Sample rate */
-} mpu9150_params_t;
+} mpu9x50_params_t;
 
 /**
- * @brief   Device descriptor for the MPU-9150 sensor
+ * @brief   Device descriptor for the MPU9X50 sensor
  */
 typedef struct {
-    mpu9150_params_t params;    /**< Device initialization parameters */
-    mpu9150_status_t conf;      /**< Device configuration */
-} mpu9150_t;
+    mpu9x50_params_t params;    /**< Device initialization parameters */
+    mpu9x50_status_t conf;      /**< Device configuration */
+} mpu9x50_t;
 
 /**
- * @brief   Initialize the given MPU9150 device
+ * @brief   Initialize the given MPU9X50 device
  *
- * @param[out] dev          Initialized device descriptor of MPU9150 device
+ * @param[out] dev          Initialized device descriptor of MPU9X50 device
  * @param[in]  params       Initialization parameters
  *
  * @return                  0 on success
  * @return                  -1 if given I2C is not enabled in board config
  */
-int mpu9150_init(mpu9150_t *dev, const mpu9150_params_t *params);
+int mpu9x50_init(mpu9x50_t *dev, const mpu9x50_params_t *params);
 
 /**
  * @brief   Enable or disable accelerometer power
  *
- * @param[in] dev           Device descriptor of MPU9150 device
+ * @param[in] dev           Device descriptor of MPU9X50 device
  * @param[in] pwr_conf      Target power setting: PWR_ON or PWR_OFF
  *
  * @return                  0 on success
  * @return                  -1 if given I2C is not enabled in board config
  */
-int mpu9150_set_accel_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf);
+int mpu9x50_set_accel_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf);
 
 /**
  * @brief   Enable or disable gyroscope power
  *
- * @param[in] dev           Device descriptor of MPU9150 device
+ * @param[in] dev           Device descriptor of MPU9X50 device
  * @param[in] pwr_conf      Target power setting: PWR_ON or PWR_OFF
  *
  * @return                  0 on success
  * @return                  -1 if given I2C is not enabled in board config
  */
-int mpu9150_set_gyro_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf);
+int mpu9x50_set_gyro_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf);
 
 /**
  * @brief   Enable or disable compass power
  *
- * @param[in] dev           Device descriptor of MPU9150 device
+ * @param[in] dev           Device descriptor of MPU9X50 device
  * @param[in] pwr_conf      Target power setting: PWR_ON or PWR_OFF
  *
  * @return                  0 on success
  * @return                  -1 if given I2C is not enabled in board config
  */
-int mpu9150_set_compass_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf);
+int mpu9x50_set_compass_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf);
 
 /**
- * @brief   Read angular speed values from the given MPU9150 device, returned in dps
+ * @brief   Read angular speed values from the given MPU9X50 device, returned in dps
  *
  * The raw gyroscope data is read from the sensor and normalized with respect to
  * the configured gyroscope full-scale range.
  *
- * @param[in]  dev          Device descriptor of MPU9150 device to read from
+ * @param[in]  dev          Device descriptor of MPU9X50 device to read from
  * @param[out] output       Result vector in dps per axis
  *
  * @return                  0 on success
  * @return                  -1 if device's I2C is not enabled in board config
  * @return                  -2 if gyro full-scale range is configured wrong
  */
-int mpu9150_read_gyro(const mpu9150_t *dev, mpu9150_results_t *output);
+int mpu9x50_read_gyro(const mpu9x50_t *dev, mpu9x50_results_t *output);
 
 /**
- * @brief   Read acceleration values from the given MPU9150 device, returned in mG
+ * @brief   Read acceleration values from the given MPU9X50 device, returned in mG
  *
  * The raw acceleration data is read from the sensor and normalized with respect to
  * the configured accelerometer full-scale range.
  *
- * @param[in]  dev          Device descriptor of MPU9150 device to read from
+ * @param[in]  dev          Device descriptor of MPU9X50 device to read from
  * @param[out] output       Result vector in mG per axis
  *
  * @return                  0 on success
  * @return                  -1 if device's I2C is not enabled in board config
  * @return                  -2 if accel full-scale range is configured wrong
  */
-int mpu9150_read_accel(const mpu9150_t *dev, mpu9150_results_t *output);
+int mpu9x50_read_accel(const mpu9x50_t *dev, mpu9x50_results_t *output);
 
 /**
- * @brief   Read magnetic field values from the given MPU9150 device, returned in mikroT
+ * @brief   Read magnetic field values from the given MPU9X50 device, returned in mikroT
  *
  * The raw compass data is read from the sensor and normalized with respect to
  * the compass full-scale range (which can not be configured).
  *
- * @param[in]  dev          Device descriptor of MPU9150 device to read from
+ * @param[in]  dev          Device descriptor of MPU9X50 device to read from
  * @param[out] output       Result vector in mikroT per axis
  *
  * @return                  0 on success
  * @return                  -1 if device's I2C is not enabled in board config
  */
-int mpu9150_read_compass(const mpu9150_t *dev, mpu9150_results_t *output);
+int mpu9x50_read_compass(const mpu9x50_t *dev, mpu9x50_results_t *output);
 
 /**
- * @brief   Read temperature value from the given MPU9150 device, returned in m°C
+ * @brief   Read temperature value from the given MPU9X50 device, returned in m°C
  *
  * @note
  * The measured temperature is slightly higher than the real room temperature.
  * Tests showed that the offset varied around 2-3 °C (but no warranties here).
  *
- * @param[in] dev           Device descriptor of MPU9150 device to read from
+ * @param[in] dev           Device descriptor of MPU9X50 device to read from
  * @param[out] output       Temperature in m°C
  *
  * @return                  0 on success
  * @return                  -1 if device's I2C is not enabled in board config
  */
-int mpu9150_read_temperature(const mpu9150_t *dev, int32_t *output);
+int mpu9x50_read_temperature(const mpu9x50_t *dev, int32_t *output);
 
 /**
  * @brief   Set the full-scale range for raw gyroscope data
  *
- * @param[in] dev           Device descriptor of MPU9150 device
+ * @param[in] dev           Device descriptor of MPU9X50 device
  * @param[in] fsr           Target full-scale range
  *
  * @return                  0 on success
  * @return                  -1 if device's I2C is not enabled in board config
  * @return                  -2 if given full-scale target value is not valid
  */
-int mpu9150_set_gyro_fsr(mpu9150_t *dev, mpu9150_gyro_ranges_t fsr);
+int mpu9x50_set_gyro_fsr(mpu9x50_t *dev, mpu9x50_gyro_ranges_t fsr);
 
 /**
  * @brief   Set the full-scale range for raw accelerometer data
  *
- * @param[in] dev           Device descriptor of MPU9150 device
+ * @param[in] dev           Device descriptor of MPU9X50 device
  * @param[in] fsr           Target full-scale range
  *
  * @return                  0 on success
  * @return                  -1 if device's I2C is not enabled in board config
  * @return                  -2 if given full-scale target value is not valid
  */
-int mpu9150_set_accel_fsr(mpu9150_t *dev, mpu9150_accel_ranges_t fsr);
+int mpu9x50_set_accel_fsr(mpu9x50_t *dev, mpu9x50_accel_ranges_t fsr);
 
 /**
  * @brief   Set the rate at which the gyroscope and accelerometer data is sampled
@@ -314,14 +331,14 @@ int mpu9150_set_accel_fsr(mpu9150_t *dev, mpu9150_accel_ranges_t fsr);
  * slightly differ. If necessary, check the actual set value in the device's
  * config member afterwards.
  *
- * @param[in] dev           Device descriptor of MPU9150 device
+ * @param[in] dev           Device descriptor of MPU9X50 device
  * @param[in] rate          Target sample rate in Hz
  *
  * @return                  0 on success
  * @return                  -1 if device's I2C is not enabled in board config
  * @return                  -2 if given target sample rate is not valid
  */
-int mpu9150_set_sample_rate(mpu9150_t *dev, uint16_t rate);
+int mpu9x50_set_sample_rate(mpu9x50_t *dev, uint16_t rate);
 
 /**
  * @brief   Set the rate at which the compass data is sampled
@@ -331,18 +348,18 @@ int mpu9150_set_sample_rate(mpu9150_t *dev, uint16_t rate);
  * slightly differ. If necessary, check the actual set value in the device's
  * config member afterwards.
  *
- * @param[in] dev           Device descriptor of MPU9150 device
+ * @param[in] dev           Device descriptor of MPU9X50 device
  * @param[in] rate          Target sample rate in Hz
  *
  * @return                  0 on success
  * @return                  -1 if device's I2C is not enabled in board config
  * @return                  -2 if given target sample rate is not valid
  */
-int mpu9150_set_compass_sample_rate(mpu9150_t *dev, uint8_t rate);
+int mpu9x50_set_compass_sample_rate(mpu9x50_t *dev, uint8_t rate);
 
 #ifdef __cplusplus
 }
 #endif
 
-#endif /* MPU9150_H */
+#endif /* MPU9X50_H */
 /** @} */
diff --git a/drivers/mpu9150/include/mpu9150-regs.h b/drivers/mpu9150/include/mpu9150-regs.h
deleted file mode 100644
index c40ff99fd1..0000000000
--- a/drivers/mpu9150/include/mpu9150-regs.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- * Copyright (C) 2015 Freie Universität Berlin
- *
- * 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     drivers_mpu9150
- * @{
- *
- * @file
- * @brief       Register and bit definitions for the MPU-9150 9-Axis Motion Sensor
- *
- * @author      Fabian Nack <nack@inf.fu-berlin.de>
- */
-
-#ifndef MPU9150_REGS_H
-#define MPU9150_REGS_H
-
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-
-/**
- * @name    MPU-9150 register definitions
- * @{
- */
-#define MPU9150_YG_OFFS_TC_REG          (0x01)
-#define MPU9150_RATE_DIV_REG            (0x19)
-#define MPU9150_LPF_REG                 (0x1A)
-#define MPU9150_GYRO_CFG_REG            (0x1B)
-#define MPU9150_ACCEL_CFG_REG           (0x1C)
-#define MPU9150_FIFO_EN_REG             (0x23)
-#define MPU9150_I2C_MST_REG             (0x24)
-#define MPU9150_SLAVE0_ADDR_REG         (0x25)
-#define MPU9150_SLAVE0_REG_REG          (0x26)
-#define MPU9150_SLAVE0_CTRL_REG         (0x27)
-#define MPU9150_SLAVE1_ADDR_REG         (0x28)
-#define MPU9150_SLAVE1_REG_REG          (0x29)
-#define MPU9150_SLAVE1_CTRL_REG         (0x2A)
-#define MPU9150_SLAVE4_CTRL_REG         (0x34)
-#define MPU9150_INT_PIN_CFG_REG         (0x37)
-#define MPU9150_INT_ENABLE_REG          (0x38)
-#define MPU9150_DMP_INT_STATUS          (0x39)
-#define MPU9150_INT_STATUS              (0x3A)
-#define MPU9150_ACCEL_START_REG         (0x3B)
-#define MPU9150_TEMP_START_REG          (0x41)
-#define MPU9150_GYRO_START_REG          (0x43)
-#define MPU9150_EXT_SENS_DATA_START_REG (0x49)
-#define MPU9150_COMPASS_DATA_START_REG  (0x4A)
-#define MPU9150_SLAVE0_DATA_OUT_REG     (0x63)
-#define MPU9150_SLAVE1_DATA_OUT_REG     (0x64)
-#define MPU9150_SLAVE2_DATA_OUT_REG     (0x65)
-#define MPU9150_SLAVE3_DATA_OUT_REG     (0x66)
-#define MPU9150_I2C_DELAY_CTRL_REG      (0x67)
-#define MPU9150_USER_CTRL_REG           (0x6A)
-#define MPU9150_PWR_MGMT_1_REG          (0x6B)
-#define MPU9150_PWR_MGMT_2_REG          (0x6C)
-#define MPU9150_FIFO_COUNT_START_REG    (0x72)
-#define MPU9150_FIFO_RW_REG             (0x74)
-#define MPU9150_WHO_AM_I_REG            (0x75)
-/** @} */
-
- /**
-  * @name    Compass register definitions
-  * @{
-  */
-#define COMPASS_WHOAMI_REG              (0x00)
-#define COMPASS_ST1_REG                 (0x02)
-#define COMPASS_DATA_START_REG          (0x03)
-#define COMPASS_ST2_REG                 (0x09)
-#define COMPASS_CNTL_REG                (0x0A)
-#define COMPASS_ASTC_REG                (0x0C)
-#define COMPASS_ASAX_REG                (0x10)
-#define COMPASS_ASAY_REG                (0x11)
-#define COMPASS_ASAZ_REG                (0x12)
-/** @} */
-
-/**
- * @name    MPU9150 bitfield definitions
- * @{
- */
-#define BIT_SLV0_DELAY_EN               (0x01)
-#define BIT_SLV1_DELAY_EN               (0x02)
-#define BIT_I2C_BYPASS_EN               (0x02)
-#define BIT_I2C_MST_EN                  (0x20)
-#define BIT_PWR_MGMT1_SLEEP             (0x40)
-#define BIT_WAIT_FOR_ES                 (0x40)
-#define BIT_I2C_MST_VDDIO               (0x80)
-#define BIT_SLAVE_RW                    (0x80)
-#define BIT_SLAVE_EN                    (0x80)
-#define BIT_DMP_EN                      (0x80)
-/** @} */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* MPU9150_REGS_H */
-/** @} */
diff --git a/drivers/mpu9150/include/mpu9150_params.h b/drivers/mpu9150/include/mpu9150_params.h
deleted file mode 100644
index ab54c8bc48..0000000000
--- a/drivers/mpu9150/include/mpu9150_params.h
+++ /dev/null
@@ -1,79 +0,0 @@
-/*
- * Copyright (C) 2017   Inria
- *
- * 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     drivers_mpu9150
- * @{
- *
- * @file
- * @brief       Default configuration for MPU9150 devices
- *
- * @author      Alexandre Abadie <alexandre.abadie@inria.fr>
- */
-
-#ifndef MPU9150_PARAMS_H
-#define MPU9150_PARAMS_H
-
-#include "board.h"
-#include "saul_reg.h"
-#include "mpu9150.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/**
- * @name   Default configuration parameters for the MPU9150 driver
- * @{
- */
-#ifndef MPU9150_PARAM_I2C
-#define MPU9150_PARAM_I2C         I2C_DEV(0)
-#endif
-#ifndef MPU9150_PARAM_ADDR
-#define MPU9150_PARAM_ADDR        (MPU9150_HW_ADDR_HEX_68)
-#endif
-#ifndef MPU9150_PARAM_COMP_ADDR
-#define MPU9150_PARAM_COMP_ADDR   (MPU9150_COMP_ADDR_HEX_0C)
-#endif
-#ifndef MPU9150_PARAM_SAMPLE_RATE
-#define MPU9150_PARAM_SAMPLE_RATE (MPU9150_DEFAULT_SAMPLE_RATE)
-#endif
-
-#ifndef MPU9150_PARAMS
-#define MPU9150_PARAMS            { .i2c         = MPU9150_PARAM_I2C,       \
-                                    .addr        = MPU9150_PARAM_ADDR,      \
-                                    .comp_addr   = MPU9150_PARAM_COMP_ADDR, \
-                                    .sample_rate = MPU9150_PARAM_SAMPLE_RATE }
-#endif
-#ifndef MPU9150_SAUL_INFO
-#define MPU9150_SAUL_INFO         { .name = "mpu9150" }
-#endif
-/**@}*/
-
-/**
- * @brief   MPU9150 configuration
- */
-static const mpu9150_params_t mpu9150_params[] =
-{
-    MPU9150_PARAMS
-};
-
-/**
- * @brief   Additional meta information to keep in the SAUL registry
- */
-static const saul_reg_info_t mpu9150_saul_info[] =
-{
-    MPU9150_SAUL_INFO
-};
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* MPU9150_PARAMS_H */
-/** @} */
\ No newline at end of file
diff --git a/drivers/mpu9150/Makefile b/drivers/mpu9x50/Makefile
similarity index 65%
rename from drivers/mpu9150/Makefile
rename to drivers/mpu9x50/Makefile
index b30c5fede7..48422e909a 100644
--- a/drivers/mpu9150/Makefile
+++ b/drivers/mpu9x50/Makefile
@@ -1,3 +1 @@
-MODULE = mpu9150
-
 include $(RIOTBASE)/Makefile.base
diff --git a/drivers/mpu9x50/include/mpu9x50_params.h b/drivers/mpu9x50/include/mpu9x50_params.h
new file mode 100644
index 0000000000..e57f799984
--- /dev/null
+++ b/drivers/mpu9x50/include/mpu9x50_params.h
@@ -0,0 +1,81 @@
+/*
+ * Copyright (C) 2017   Inria
+ *               2019   HAW Hamburg
+ *
+ * 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     drivers_mpu9x50
+ * @{
+ *
+ * @file
+ * @brief       Default configuration for MPU9X50 (MPU9150 and MPU9250) devices
+ *
+ * @author      Alexandre Abadie <alexandre.abadie@inria.fr>
+ * @author      Jannes Volkens <jannes.volkens@haw-hamburg.de>
+ */
+
+#ifndef MPU9X50_PARAMS_H
+#define MPU9X50_PARAMS_H
+
+#include "board.h"
+#include "saul_reg.h"
+#include "mpu9x50.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @name   Default configuration parameters for the MPU9X50 driver
+ * @{
+ */
+#ifndef MPU9X50_PARAM_I2C
+#define MPU9X50_PARAM_I2C         I2C_DEV(0)
+#endif
+#ifndef MPU9X50_PARAM_ADDR
+#define MPU9X50_PARAM_ADDR        (MPU9X50_HW_ADDR_HEX_68)
+#endif
+#ifndef MPU9X50_PARAM_COMP_ADDR
+#define MPU9X50_PARAM_COMP_ADDR   (MPU9X50_COMP_ADDR_HEX_0C)
+#endif
+#ifndef MPU9X50_PARAM_SAMPLE_RATE
+#define MPU9X50_PARAM_SAMPLE_RATE (MPU9X50_DEFAULT_SAMPLE_RATE)
+#endif
+
+#ifndef MPU9X50_PARAMS
+#define MPU9X50_PARAMS            { .i2c         = MPU9X50_PARAM_I2C,       \
+                                    .addr        = MPU9X50_PARAM_ADDR,      \
+                                    .comp_addr   = MPU9X50_PARAM_COMP_ADDR, \
+                                    .sample_rate = MPU9X50_PARAM_SAMPLE_RATE }
+#endif
+#ifndef MPU9X50_SAUL_INFO
+#define MPU9X50_SAUL_INFO         { .name = "mpu9x50" }
+#endif
+/**@}*/
+
+/**
+ * @brief   MPU9X50 configuration
+ */
+static const mpu9x50_params_t mpu9x50_params[] =
+{
+    MPU9X50_PARAMS
+};
+
+/**
+ * @brief   Additional meta information to keep in the SAUL registry
+ */
+static const saul_reg_info_t mpu9x50_saul_info[] =
+{
+    MPU9X50_SAUL_INFO
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* MPU9X50_PARAMS_H */
+/** @} */
diff --git a/drivers/mpu9x50/include/mpu9x50_regs.h b/drivers/mpu9x50/include/mpu9x50_regs.h
new file mode 100644
index 0000000000..4b9585ca99
--- /dev/null
+++ b/drivers/mpu9x50/include/mpu9x50_regs.h
@@ -0,0 +1,105 @@
+/*
+ * Copyright (C) 2015 Freie Universität Berlin
+ *               2019 HAW Hamburg
+ *
+ * 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     drivers_mpu9x50
+ * @{
+ *
+ * @file
+ * @brief       Register and bit definitions for the MPU-9X50 (MPU9150 and MPU9250) 9-Axis Motion Sensor
+ *
+ * @author      Fabian Nack <nack@inf.fu-berlin.de>
+ * @author      Jannes Volkens <jannes.volkens@haw-hamburg.de>
+ */
+
+#ifndef MPU9X50_REGS_H
+#define MPU9X50_REGS_H
+
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/**
+ * @name    MPU-9X50 register definitions
+ * @{
+ */
+#define MPU9X50_YG_OFFS_TC_REG          (0x01)
+#define MPU9X50_RATE_DIV_REG            (0x19)
+#define MPU9X50_LPF_REG                 (0x1A)
+#define MPU9X50_GYRO_CFG_REG            (0x1B)
+#define MPU9X50_ACCEL_CFG_REG           (0x1C)
+#define MPU9X50_FIFO_EN_REG             (0x23)
+#define MPU9X50_I2C_MST_REG             (0x24)
+#define MPU9X50_SLAVE0_ADDR_REG         (0x25)
+#define MPU9X50_SLAVE0_REG_REG          (0x26)
+#define MPU9X50_SLAVE0_CTRL_REG         (0x27)
+#define MPU9X50_SLAVE1_ADDR_REG         (0x28)
+#define MPU9X50_SLAVE1_REG_REG          (0x29)
+#define MPU9X50_SLAVE1_CTRL_REG         (0x2A)
+#define MPU9X50_SLAVE4_CTRL_REG         (0x34)
+#define MPU9X50_INT_PIN_CFG_REG         (0x37)
+#define MPU9X50_INT_ENABLE_REG          (0x38)
+#define MPU9X50_DMP_INT_STATUS          (0x39)
+#define MPU9X50_INT_STATUS              (0x3A)
+#define MPU9X50_ACCEL_START_REG         (0x3B)
+#define MPU9X50_TEMP_START_REG          (0x41)
+#define MPU9X50_GYRO_START_REG          (0x43)
+#define MPU9X50_EXT_SENS_DATA_START_REG (0x49)
+#define MPU9X50_COMPASS_DATA_START_REG  (0x4A)
+#define MPU9X50_SLAVE0_DATA_OUT_REG     (0x63)
+#define MPU9X50_SLAVE1_DATA_OUT_REG     (0x64)
+#define MPU9X50_SLAVE2_DATA_OUT_REG     (0x65)
+#define MPU9X50_SLAVE3_DATA_OUT_REG     (0x66)
+#define MPU9X50_I2C_DELAY_CTRL_REG      (0x67)
+#define MPU9X50_USER_CTRL_REG           (0x6A)
+#define MPU9X50_PWR_MGMT_1_REG          (0x6B)
+#define MPU9X50_PWR_MGMT_2_REG          (0x6C)
+#define MPU9X50_FIFO_COUNT_START_REG    (0x72)
+#define MPU9X50_FIFO_RW_REG             (0x74)
+#define MPU9X50_WHO_AM_I_REG            (0x75)
+/** @} */
+
+ /**
+  * @name    Compass register definitions
+  * @{
+  */
+#define COMPASS_WHOAMI_REG              (0x00)
+#define COMPASS_ST1_REG                 (0x02)
+#define COMPASS_DATA_START_REG          (0x03)
+#define COMPASS_ST2_REG                 (0x09)
+#define COMPASS_CNTL_REG                (0x0A)
+#define COMPASS_ASTC_REG                (0x0C)
+#define COMPASS_ASAX_REG                (0x10)
+#define COMPASS_ASAY_REG                (0x11)
+#define COMPASS_ASAZ_REG                (0x12)
+/** @} */
+
+/**
+ * @name    MPU9X50 bitfield definitions
+ * @{
+ */
+#define BIT_SLV0_DELAY_EN               (0x01)
+#define BIT_SLV1_DELAY_EN               (0x02)
+#define BIT_I2C_BYPASS_EN               (0x02)
+#define BIT_I2C_MST_EN                  (0x20)
+#define BIT_PWR_MGMT1_SLEEP             (0x40)
+#define BIT_WAIT_FOR_ES                 (0x40)
+#define BIT_I2C_MST_VDDIO               (0x80)
+#define BIT_SLAVE_RW                    (0x80)
+#define BIT_SLAVE_EN                    (0x80)
+#define BIT_DMP_EN                      (0x80)
+/** @} */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* MPU9X50_REGS_H */
+/** @} */
diff --git a/drivers/mpu9150/mpu9150.c b/drivers/mpu9x50/mpu9x50.c
similarity index 62%
rename from drivers/mpu9150/mpu9150.c
rename to drivers/mpu9x50/mpu9x50.c
index bedee114ab..45a9dc3ba7 100644
--- a/drivers/mpu9150/mpu9150.c
+++ b/drivers/mpu9x50/mpu9x50.c
@@ -1,5 +1,6 @@
 /*
  * Copyright (C) 2015 Freie Universität Berlin
+ *               2019 HAW Hamburg
  *
  * 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
@@ -7,19 +8,20 @@
  */
 
 /**
- * @ingroup     drivers_mpu9150
+ * @ingroup     drivers_mpu9x50
  * @{
  *
  * @file
- * @brief       Device driver implementation for the MPU-9150 9-Axis Motion Sensor
+ * @brief       Device driver implementation for the MPU-9X50 (MPU9150 and MPU9250) 9-Axis Motion Sensor
  *
  * @author      Fabian Nack <nack@inf.fu-berlin.de>
+ * @author      Jannes Volkens <jannes.volkens@haw-hamburg.de>
  *
  * @}
  */
 
-#include "mpu9150.h"
-#include "mpu9150-regs.h"
+#include "mpu9x50.h"
+#include "mpu9x50-regs.h"
 #include "periph/i2c.h"
 #include "xtimer.h"
 
@@ -34,12 +36,12 @@
 #define DEV_COMP_ADDR       (dev->params.comp_addr)
 
 /* Default config settings */
-static const mpu9150_status_t DEFAULT_STATUS = {
-    .accel_pwr = MPU9150_SENSOR_PWR_ON,
-    .gyro_pwr = MPU9150_SENSOR_PWR_ON,
-    .compass_pwr = MPU9150_SENSOR_PWR_ON,
-    .gyro_fsr = MPU9150_GYRO_FSR_250DPS,
-    .accel_fsr = MPU9150_ACCEL_FSR_16G,
+static const mpu9x50_status_t DEFAULT_STATUS = {
+    .accel_pwr = MPU9X50_SENSOR_PWR_ON,
+    .gyro_pwr = MPU9X50_SENSOR_PWR_ON,
+    .compass_pwr = MPU9X50_SENSOR_PWR_ON,
+    .gyro_fsr = MPU9X50_GYRO_FSR_250DPS,
+    .accel_fsr = MPU9X50_ACCEL_FSR_16G,
     .sample_rate = 0,
     .compass_sample_rate = 0,
     .compass_x_adj = 0,
@@ -48,15 +50,15 @@ static const mpu9150_status_t DEFAULT_STATUS = {
 };
 
 /* Internal function prototypes */
-static int compass_init(mpu9150_t *dev);
-static void conf_bypass(const mpu9150_t *dev, uint8_t bypass_enable);
-static void conf_lpf(const mpu9150_t *dev, uint16_t rate);
+static int compass_init(mpu9x50_t *dev);
+static void conf_bypass(const mpu9x50_t *dev, uint8_t bypass_enable);
+static void conf_lpf(const mpu9x50_t *dev, uint16_t rate);
 
 /*---------------------------------------------------------------------------*
- *                          MPU9150 Core API                                 *
+ *                          MPU9X50 Core API                                 *
  *---------------------------------------------------------------------------*/
 
-int mpu9150_init(mpu9150_t *dev, const mpu9150_params_t *params)
+int mpu9x50_init(mpu9x50_t *dev, const mpu9x50_params_t *params)
 {
     dev->params = *params;
 
@@ -67,22 +69,22 @@ int mpu9150_init(mpu9150_t *dev, const mpu9150_params_t *params)
     /* Acquire exclusive access */
     i2c_acquire(DEV_I2C);
 
-    /* Reset MPU9150 registers and afterwards wake up the chip */
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_RESET, 0);
-    xtimer_usleep(MPU9150_RESET_SLEEP_US);
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_WAKEUP, 0);
+    /* Reset MPU9X50 registers and afterwards wake up the chip */
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_1_REG, MPU9X50_PWR_RESET, 0);
+    xtimer_usleep(MPU9X50_RESET_SLEEP_US);
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_1_REG, MPU9X50_PWR_WAKEUP, 0);
 
     /* Release the bus, it is acquired again inside each function */
     i2c_release(DEV_I2C);
 
     /* Set default full scale ranges and sample rate */
-    mpu9150_set_gyro_fsr(dev, MPU9150_GYRO_FSR_2000DPS);
-    mpu9150_set_accel_fsr(dev, MPU9150_ACCEL_FSR_2G);
-    mpu9150_set_sample_rate(dev, dev->params.sample_rate);
+    mpu9x50_set_gyro_fsr(dev, MPU9X50_GYRO_FSR_2000DPS);
+    mpu9x50_set_accel_fsr(dev, MPU9X50_ACCEL_FSR_2G);
+    mpu9x50_set_sample_rate(dev, dev->params.sample_rate);
 
     /* Disable interrupt generation */
     i2c_acquire(DEV_I2C);
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_INT_ENABLE_REG, REG_RESET, 0);
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_INT_ENABLE_REG, REG_RESET, 0);
 
     /* Initialize magnetometer */
     if (compass_init(dev)) {
@@ -91,20 +93,20 @@ int mpu9150_init(mpu9150_t *dev, const mpu9150_params_t *params)
     }
     /* Release the bus, it is acquired again inside each function */
     i2c_release(DEV_I2C);
-    mpu9150_set_compass_sample_rate(dev, 10);
+    mpu9x50_set_compass_sample_rate(dev, 10);
     /* Enable all sensors */
     i2c_acquire(DEV_I2C);
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_PLL, 0);
-    i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, &temp, 0);
-    temp &= ~(MPU9150_PWR_ACCEL | MPU9150_PWR_GYRO);
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, temp, 0);
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_1_REG, MPU9X50_PWR_PLL, 0);
+    i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_2_REG, &temp, 0);
+    temp &= ~(MPU9X50_PWR_ACCEL | MPU9X50_PWR_GYRO);
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_2_REG, temp, 0);
     i2c_release(DEV_I2C);
-    xtimer_usleep(MPU9150_PWR_CHANGE_SLEEP_US);
+    xtimer_usleep(MPU9X50_PWR_CHANGE_SLEEP_US);
 
     return 0;
 }
 
-int mpu9150_set_accel_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
+int mpu9x50_set_accel_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf)
 {
     uint8_t pwr_1_setting, pwr_2_setting;
 
@@ -118,34 +120,34 @@ int mpu9150_set_accel_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
     }
 
     /* Read current power management 2 configuration */
-    i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, &pwr_2_setting, 0);
+    i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_2_REG, &pwr_2_setting, 0);
     /* Prepare power register settings */
-    if (pwr_conf == MPU9150_SENSOR_PWR_ON) {
-        pwr_1_setting = MPU9150_PWR_WAKEUP;
-        pwr_2_setting &= ~(MPU9150_PWR_ACCEL);
+    if (pwr_conf == MPU9X50_SENSOR_PWR_ON) {
+        pwr_1_setting = MPU9X50_PWR_WAKEUP;
+        pwr_2_setting &= ~(MPU9X50_PWR_ACCEL);
     }
     else {
         pwr_1_setting = BIT_PWR_MGMT1_SLEEP;
-        pwr_2_setting |= MPU9150_PWR_ACCEL;
+        pwr_2_setting |= MPU9X50_PWR_ACCEL;
     }
     /* Configure power management 1 register if needed */
-    if ((dev->conf.gyro_pwr == MPU9150_SENSOR_PWR_OFF)
-            && (dev->conf.compass_pwr == MPU9150_SENSOR_PWR_OFF)) {
-        i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, pwr_1_setting, 0);
+    if ((dev->conf.gyro_pwr == MPU9X50_SENSOR_PWR_OFF)
+            && (dev->conf.compass_pwr == MPU9X50_SENSOR_PWR_OFF)) {
+        i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_1_REG, pwr_1_setting, 0);
     }
     /* Enable/disable accelerometer standby in power management 2 register */
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, pwr_2_setting, 0);
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_2_REG, pwr_2_setting, 0);
 
     /* Release the bus */
     i2c_release(DEV_I2C);
 
     dev->conf.accel_pwr = pwr_conf;
-    xtimer_usleep(MPU9150_PWR_CHANGE_SLEEP_US);
+    xtimer_usleep(MPU9X50_PWR_CHANGE_SLEEP_US);
 
     return 0;
 }
 
-int mpu9150_set_gyro_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
+int mpu9x50_set_gyro_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf)
 {
     uint8_t pwr_2_setting;
 
@@ -159,41 +161,41 @@ int mpu9150_set_gyro_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
     }
 
     /* Read current power management 2 configuration */
-    i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, &pwr_2_setting, 0);
+    i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_2_REG, &pwr_2_setting, 0);
     /* Prepare power register settings */
-    if (pwr_conf == MPU9150_SENSOR_PWR_ON) {
+    if (pwr_conf == MPU9X50_SENSOR_PWR_ON) {
         /* Set clock to pll */
-        i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_PLL, 0);
-        pwr_2_setting &= ~(MPU9150_PWR_GYRO);
+        i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_1_REG, MPU9X50_PWR_PLL, 0);
+        pwr_2_setting &= ~(MPU9X50_PWR_GYRO);
     }
     else {
         /* Configure power management 1 register */
-        if ((dev->conf.accel_pwr == MPU9150_SENSOR_PWR_OFF)
-                && (dev->conf.compass_pwr == MPU9150_SENSOR_PWR_OFF)) {
-            /* All sensors turned off, put the MPU-9150 to sleep */
+        if ((dev->conf.accel_pwr == MPU9X50_SENSOR_PWR_OFF)
+                && (dev->conf.compass_pwr == MPU9X50_SENSOR_PWR_OFF)) {
+            /* All sensors turned off, put the MPU-9X50 to sleep */
             i2c_write_reg(DEV_I2C, DEV_ADDR,
-                    MPU9150_PWR_MGMT_1_REG, BIT_PWR_MGMT1_SLEEP, 0);
+                    MPU9X50_PWR_MGMT_1_REG, BIT_PWR_MGMT1_SLEEP, 0);
         }
         else {
             /* Reset clock to internal oscillator */
             i2c_write_reg(DEV_I2C, DEV_ADDR,
-                    MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_WAKEUP, 0);
+                    MPU9X50_PWR_MGMT_1_REG, MPU9X50_PWR_WAKEUP, 0);
         }
-        pwr_2_setting |= MPU9150_PWR_GYRO;
+        pwr_2_setting |= MPU9X50_PWR_GYRO;
     }
     /* Enable/disable gyroscope standby in power management 2 register */
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, pwr_2_setting, 0);
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_2_REG, pwr_2_setting, 0);
 
     /* Release the bus */
     i2c_release(DEV_I2C);
 
     dev->conf.gyro_pwr = pwr_conf;
-    xtimer_usleep(MPU9150_PWR_CHANGE_SLEEP_US);
+    xtimer_usleep(MPU9X50_PWR_CHANGE_SLEEP_US);
 
     return 0;
 }
 
-int mpu9150_set_compass_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
+int mpu9x50_set_compass_power(mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf)
 {
     uint8_t pwr_1_setting, usr_ctrl_setting, s1_do_setting;
 
@@ -207,54 +209,54 @@ int mpu9150_set_compass_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
     }
 
     /* Read current user control configuration */
-    i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9150_USER_CTRL_REG, &usr_ctrl_setting, 0);
+    i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9X50_USER_CTRL_REG, &usr_ctrl_setting, 0);
     /* Prepare power register settings */
-    if (pwr_conf == MPU9150_SENSOR_PWR_ON) {
-        pwr_1_setting = MPU9150_PWR_WAKEUP;
-        s1_do_setting = MPU9150_COMP_SINGLE_MEASURE;
+    if (pwr_conf == MPU9X50_SENSOR_PWR_ON) {
+        pwr_1_setting = MPU9X50_PWR_WAKEUP;
+        s1_do_setting = MPU9X50_COMP_SINGLE_MEASURE;
         usr_ctrl_setting |= BIT_I2C_MST_EN;
     }
     else {
         pwr_1_setting = BIT_PWR_MGMT1_SLEEP;
-        s1_do_setting = MPU9150_COMP_POWER_DOWN;
+        s1_do_setting = MPU9X50_COMP_POWER_DOWN;
         usr_ctrl_setting &= ~(BIT_I2C_MST_EN);
     }
     /* Configure power management 1 register if needed */
-    if ((dev->conf.gyro_pwr == MPU9150_SENSOR_PWR_OFF)
-            && (dev->conf.accel_pwr == MPU9150_SENSOR_PWR_OFF)) {
-        i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, pwr_1_setting, 0);
+    if ((dev->conf.gyro_pwr == MPU9X50_SENSOR_PWR_OFF)
+            && (dev->conf.accel_pwr == MPU9X50_SENSOR_PWR_OFF)) {
+        i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_PWR_MGMT_1_REG, pwr_1_setting, 0);
     }
     /* Configure mode writing by slave line 1 */
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE1_DATA_OUT_REG, s1_do_setting, 0);
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_SLAVE1_DATA_OUT_REG, s1_do_setting, 0);
     /* Enable/disable I2C master mode */
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_USER_CTRL_REG, usr_ctrl_setting, 0);
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_USER_CTRL_REG, usr_ctrl_setting, 0);
 
     /* Release the bus */
     i2c_release(DEV_I2C);
 
     dev->conf.compass_pwr = pwr_conf;
-    xtimer_usleep(MPU9150_PWR_CHANGE_SLEEP_US);
+    xtimer_usleep(MPU9X50_PWR_CHANGE_SLEEP_US);
 
     return 0;
 }
 
-int mpu9150_read_gyro(const mpu9150_t *dev, mpu9150_results_t *output)
+int mpu9x50_read_gyro(const mpu9x50_t *dev, mpu9x50_results_t *output)
 {
     uint8_t data[6];
     int16_t temp;
     float fsr;
 
     switch (dev->conf.gyro_fsr) {
-        case MPU9150_GYRO_FSR_250DPS:
+        case MPU9X50_GYRO_FSR_250DPS:
             fsr = 250.0;
             break;
-        case MPU9150_GYRO_FSR_500DPS:
+        case MPU9X50_GYRO_FSR_500DPS:
             fsr = 500.0;
             break;
-        case MPU9150_GYRO_FSR_1000DPS:
+        case MPU9X50_GYRO_FSR_1000DPS:
             fsr = 1000.0;
             break;
-        case MPU9150_GYRO_FSR_2000DPS:
+        case MPU9X50_GYRO_FSR_2000DPS:
             fsr = 2000.0;
             break;
         default:
@@ -266,7 +268,7 @@ int mpu9150_read_gyro(const mpu9150_t *dev, mpu9150_results_t *output)
         return -1;
     }
     /* Read raw data */
-    i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9150_GYRO_START_REG, data, 6, 0);
+    i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9X50_GYRO_START_REG, data, 6, 0);
     /* Release the bus */
     i2c_release(DEV_I2C);
 
@@ -281,23 +283,23 @@ int mpu9150_read_gyro(const mpu9150_t *dev, mpu9150_results_t *output)
     return 0;
 }
 
-int mpu9150_read_accel(const mpu9150_t *dev, mpu9150_results_t *output)
+int mpu9x50_read_accel(const mpu9x50_t *dev, mpu9x50_results_t *output)
 {
     uint8_t data[6];
     int16_t temp;
     float fsr;
 
     switch (dev->conf.accel_fsr) {
-        case MPU9150_ACCEL_FSR_2G:
+        case MPU9X50_ACCEL_FSR_2G:
             fsr = 2000.0;
             break;
-        case MPU9150_ACCEL_FSR_4G:
+        case MPU9X50_ACCEL_FSR_4G:
             fsr = 4000.0;
             break;
-        case MPU9150_ACCEL_FSR_8G:
+        case MPU9X50_ACCEL_FSR_8G:
             fsr = 8000.0;
             break;
-        case MPU9150_ACCEL_FSR_16G:
+        case MPU9X50_ACCEL_FSR_16G:
             fsr = 16000.0;
             break;
         default:
@@ -309,7 +311,7 @@ int mpu9150_read_accel(const mpu9150_t *dev, mpu9150_results_t *output)
         return -1;
     }
     /* Read raw data */
-    i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9150_ACCEL_START_REG, data, 6, 0);
+    i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9X50_ACCEL_START_REG, data, 6, 0);
     /* Release the bus */
     i2c_release(DEV_I2C);
 
@@ -324,7 +326,7 @@ int mpu9150_read_accel(const mpu9150_t *dev, mpu9150_results_t *output)
     return 0;
 }
 
-int mpu9150_read_compass(const mpu9150_t *dev, mpu9150_results_t *output)
+int mpu9x50_read_compass(const mpu9x50_t *dev, mpu9x50_results_t *output)
 {
     uint8_t data[6];
 
@@ -333,7 +335,7 @@ int mpu9150_read_compass(const mpu9150_t *dev, mpu9150_results_t *output)
         return -1;
     }
     /* Read raw data */
-    i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9150_EXT_SENS_DATA_START_REG, data, 6, 0);
+    i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9X50_EXT_SENS_DATA_START_REG, data, 6, 0);
     /* Release the bus */
     i2c_release(DEV_I2C);
 
@@ -357,7 +359,7 @@ int mpu9150_read_compass(const mpu9150_t *dev, mpu9150_results_t *output)
     return 0;
 }
 
-int mpu9150_read_temperature(const mpu9150_t *dev, int32_t *output)
+int mpu9x50_read_temperature(const mpu9x50_t *dev, int32_t *output)
 {
     uint8_t data[2];
     int16_t temp;
@@ -367,7 +369,7 @@ int mpu9150_read_temperature(const mpu9150_t *dev, int32_t *output)
         return -1;
     }
     /* Read raw temperature value */
-    i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9150_TEMP_START_REG, data, 2, 0);
+    i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9X50_TEMP_START_REG, data, 2, 0);
     /* Release the bus */
     i2c_release(DEV_I2C);
 
@@ -377,22 +379,22 @@ int mpu9150_read_temperature(const mpu9150_t *dev, int32_t *output)
     return 0;
 }
 
-int mpu9150_set_gyro_fsr(mpu9150_t *dev, mpu9150_gyro_ranges_t fsr)
+int mpu9x50_set_gyro_fsr(mpu9x50_t *dev, mpu9x50_gyro_ranges_t fsr)
 {
     if (dev->conf.gyro_fsr == fsr) {
         return 0;
     }
 
     switch (fsr) {
-        case MPU9150_GYRO_FSR_250DPS:
-        case MPU9150_GYRO_FSR_500DPS:
-        case MPU9150_GYRO_FSR_1000DPS:
-        case MPU9150_GYRO_FSR_2000DPS:
+        case MPU9X50_GYRO_FSR_250DPS:
+        case MPU9X50_GYRO_FSR_500DPS:
+        case MPU9X50_GYRO_FSR_1000DPS:
+        case MPU9X50_GYRO_FSR_2000DPS:
             if (i2c_acquire(DEV_I2C)) {
                 return -1;
             }
             i2c_write_reg(DEV_I2C, DEV_ADDR,
-                    MPU9150_GYRO_CFG_REG, (fsr << 3), 0);
+                    MPU9X50_GYRO_CFG_REG, (fsr << 3), 0);
             i2c_release(DEV_I2C);
             dev->conf.gyro_fsr = fsr;
             break;
@@ -403,22 +405,22 @@ int mpu9150_set_gyro_fsr(mpu9150_t *dev, mpu9150_gyro_ranges_t fsr)
     return 0;
 }
 
-int mpu9150_set_accel_fsr(mpu9150_t *dev, mpu9150_accel_ranges_t fsr)
+int mpu9x50_set_accel_fsr(mpu9x50_t *dev, mpu9x50_accel_ranges_t fsr)
 {
     if (dev->conf.accel_fsr == fsr) {
         return 0;
     }
 
     switch (fsr) {
-        case MPU9150_ACCEL_FSR_2G:
-        case MPU9150_ACCEL_FSR_4G:
-        case MPU9150_ACCEL_FSR_8G:
-        case MPU9150_ACCEL_FSR_16G:
+        case MPU9X50_ACCEL_FSR_2G:
+        case MPU9X50_ACCEL_FSR_4G:
+        case MPU9X50_ACCEL_FSR_8G:
+        case MPU9X50_ACCEL_FSR_16G:
             if (i2c_acquire(DEV_I2C)) {
                 return -1;
             }
             i2c_write_reg(DEV_I2C, DEV_ADDR,
-                    MPU9150_ACCEL_CFG_REG, (fsr << 3), 0);
+                    MPU9X50_ACCEL_CFG_REG, (fsr << 3), 0);
             i2c_release(DEV_I2C);
             dev->conf.accel_fsr = fsr;
             break;
@@ -429,11 +431,11 @@ int mpu9150_set_accel_fsr(mpu9150_t *dev, mpu9150_accel_ranges_t fsr)
     return 0;
 }
 
-int mpu9150_set_sample_rate(mpu9150_t *dev, uint16_t rate)
+int mpu9x50_set_sample_rate(mpu9x50_t *dev, uint16_t rate)
 {
     uint8_t divider;
 
-    if ((rate < MPU9150_MIN_SAMPLE_RATE) || (rate > MPU9150_MAX_SAMPLE_RATE)) {
+    if ((rate < MPU9X50_MIN_SAMPLE_RATE) || (rate > MPU9X50_MAX_SAMPLE_RATE)) {
         return -2;
     }
     else if (dev->conf.sample_rate == rate) {
@@ -446,7 +448,7 @@ int mpu9150_set_sample_rate(mpu9150_t *dev, uint16_t rate)
     if (i2c_acquire(DEV_I2C)) {
         return -1;
     }
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_RATE_DIV_REG, divider, 0);
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_RATE_DIV_REG, divider, 0);
 
     /* Store configured sample rate */
     dev->conf.sample_rate = 1000 / (((uint16_t) divider) + 1);
@@ -458,11 +460,11 @@ int mpu9150_set_sample_rate(mpu9150_t *dev, uint16_t rate)
     return 0;
 }
 
-int mpu9150_set_compass_sample_rate(mpu9150_t *dev, uint8_t rate)
+int mpu9x50_set_compass_sample_rate(mpu9x50_t *dev, uint8_t rate)
 {
     uint8_t divider;
 
-    if ((rate < MPU9150_MIN_COMP_SMPL_RATE) || (rate > MPU9150_MAX_COMP_SMPL_RATE)
+    if ((rate < MPU9X50_MIN_COMP_SMPL_RATE) || (rate > MPU9X50_MAX_COMP_SMPL_RATE)
             || (rate > dev->conf.sample_rate)) {
         return -2;
     }
@@ -476,7 +478,7 @@ int mpu9150_set_compass_sample_rate(mpu9150_t *dev, uint8_t rate)
     if (i2c_acquire(DEV_I2C)) {
         return -1;
     }
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE4_CTRL_REG, divider, 0);
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_SLAVE4_CTRL_REG, divider, 0);
     i2c_release(DEV_I2C);
 
     /* Store configured sample rate */
@@ -494,7 +496,7 @@ int mpu9150_set_compass_sample_rate(mpu9150_t *dev, uint8_t rate)
  * Caution: This internal function does not acquire exclusive access to the I2C bus.
  *          Acquisation and release is supposed to be handled by the calling function.
  */
-static int compass_init(mpu9150_t *dev)
+static int compass_init(mpu9x50_t *dev)
 {
     uint8_t data[3];
 
@@ -509,51 +511,51 @@ static int compass_init(mpu9150_t *dev)
     }
 
     /* Configure Power Down mode */
-    i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9150_COMP_POWER_DOWN, 0);
-    xtimer_usleep(MPU9150_COMP_MODE_SLEEP_US);
+    i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9X50_COMP_POWER_DOWN, 0);
+    xtimer_usleep(MPU9X50_COMP_MODE_SLEEP_US);
     /* Configure Fuse ROM access */
-    i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9150_COMP_FUSE_ROM, 0);
-    xtimer_usleep(MPU9150_COMP_MODE_SLEEP_US);
+    i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9X50_COMP_FUSE_ROM, 0);
+    xtimer_usleep(MPU9X50_COMP_MODE_SLEEP_US);
     /* Read sensitivity adjustment values from Fuse ROM */
     i2c_read_regs(DEV_I2C, DEV_COMP_ADDR, COMPASS_ASAX_REG, data, 3, 0);
     dev->conf.compass_x_adj = data[0];
     dev->conf.compass_y_adj = data[1];
     dev->conf.compass_z_adj = data[2];
     /* Configure Power Down mode again */
-    i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9150_COMP_POWER_DOWN, 0);
-    xtimer_usleep(MPU9150_COMP_MODE_SLEEP_US);
+    i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9X50_COMP_POWER_DOWN, 0);
+    xtimer_usleep(MPU9X50_COMP_MODE_SLEEP_US);
 
     /* Disable Bypass Mode to configure MPU as master to the compass */
     conf_bypass(dev, 0);
 
-    /* Configure MPU9150 for single master mode */
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_I2C_MST_REG, BIT_WAIT_FOR_ES, 0);
+    /* Configure MPU9X50 for single master mode */
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_I2C_MST_REG, BIT_WAIT_FOR_ES, 0);
 
     /* Set up slave line 0 */
     /* Slave line 0 reads the compass data */
     i2c_write_reg(DEV_I2C, DEV_ADDR,
-            MPU9150_SLAVE0_ADDR_REG, (BIT_SLAVE_RW | DEV_COMP_ADDR), 0);
+            MPU9X50_SLAVE0_ADDR_REG, (BIT_SLAVE_RW | DEV_COMP_ADDR), 0);
     /* Slave line 0 read starts at compass data register */
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE0_REG_REG, COMPASS_DATA_START_REG, 0);
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_SLAVE0_REG_REG, COMPASS_DATA_START_REG, 0);
     /* Enable slave line 0 and configure read length to 6 consecutive registers */
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE0_CTRL_REG, (BIT_SLAVE_EN | 0x06), 0);
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_SLAVE0_CTRL_REG, (BIT_SLAVE_EN | 0x06), 0);
 
     /* Set up slave line 1 */
     /* Slave line 1 writes to the compass */
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE1_ADDR_REG, DEV_COMP_ADDR, 0);
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_SLAVE1_ADDR_REG, DEV_COMP_ADDR, 0);
     /* Slave line 1 write starts at compass control register */
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE1_REG_REG, COMPASS_CNTL_REG, 0);
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_SLAVE1_REG_REG, COMPASS_CNTL_REG, 0);
     /* Enable slave line 1 and configure write length to 1 register */
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE1_CTRL_REG, (BIT_SLAVE_EN | 0x01), 0);
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_SLAVE1_CTRL_REG, (BIT_SLAVE_EN | 0x01), 0);
     /* Configure data which is written by slave line 1 to compass control */
     i2c_write_reg(DEV_I2C, DEV_ADDR,
-            MPU9150_SLAVE1_DATA_OUT_REG, MPU9150_COMP_SINGLE_MEASURE, 0);
+            MPU9X50_SLAVE1_DATA_OUT_REG, MPU9X50_COMP_SINGLE_MEASURE, 0);
 
     /* Slave line 0 and 1 operate at each sample */
     i2c_write_reg(DEV_I2C, DEV_ADDR,
-            MPU9150_I2C_DELAY_CTRL_REG, (BIT_SLV0_DELAY_EN | BIT_SLV1_DELAY_EN), 0);
+            MPU9X50_I2C_DELAY_CTRL_REG, (BIT_SLV0_DELAY_EN | BIT_SLV1_DELAY_EN), 0);
     /* Set I2C bus to VDD */
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_YG_OFFS_TC_REG, BIT_I2C_MST_VDDIO, 0);
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_YG_OFFS_TC_REG, BIT_I2C_MST_VDDIO, 0);
 
     return 0;
 }
@@ -563,22 +565,22 @@ static int compass_init(mpu9150_t *dev)
  * Caution: This internal function does not acquire exclusive access to the I2C bus.
  *          Acquisation and release is supposed to be handled by the calling function.
  */
-static void conf_bypass(const mpu9150_t *dev, uint8_t bypass_enable)
+static void conf_bypass(const mpu9x50_t *dev, uint8_t bypass_enable)
 {
    uint8_t data;
-   i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9150_USER_CTRL_REG, &data, 0);
+   i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9X50_USER_CTRL_REG, &data, 0);
 
    if (bypass_enable) {
        data &= ~(BIT_I2C_MST_EN);
-       i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_USER_CTRL_REG, data, 0);
-       xtimer_usleep(MPU9150_BYPASS_SLEEP_US);
-       i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_INT_PIN_CFG_REG, BIT_I2C_BYPASS_EN, 0);
+       i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_USER_CTRL_REG, data, 0);
+       xtimer_usleep(MPU9X50_BYPASS_SLEEP_US);
+       i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_INT_PIN_CFG_REG, BIT_I2C_BYPASS_EN, 0);
    }
    else {
        data |= BIT_I2C_MST_EN;
-       i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_USER_CTRL_REG, data, 0);
-       xtimer_usleep(MPU9150_BYPASS_SLEEP_US);
-       i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_INT_PIN_CFG_REG, REG_RESET, 0);
+       i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_USER_CTRL_REG, data, 0);
+       xtimer_usleep(MPU9X50_BYPASS_SLEEP_US);
+       i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_INT_PIN_CFG_REG, REG_RESET, 0);
    }
 }
 
@@ -587,30 +589,30 @@ static void conf_bypass(const mpu9150_t *dev, uint8_t bypass_enable)
  * Caution: This internal function does not acquire exclusive access to the I2C bus.
  *          Acquisation and release is supposed to be handled by the calling function.
  */
-static void conf_lpf(const mpu9150_t *dev, uint16_t half_rate)
+static void conf_lpf(const mpu9x50_t *dev, uint16_t half_rate)
 {
-    mpu9150_lpf_t lpf_setting;
+    mpu9x50_lpf_t lpf_setting;
 
     /* Get target LPF configuration setting */
     if (half_rate >= 188) {
-        lpf_setting = MPU9150_FILTER_188HZ;
+        lpf_setting = MPU9X50_FILTER_188HZ;
     }
     else if (half_rate >= 98) {
-        lpf_setting = MPU9150_FILTER_98HZ;
+        lpf_setting = MPU9X50_FILTER_98HZ;
     }
     else if (half_rate >= 42) {
-        lpf_setting = MPU9150_FILTER_42HZ;
+        lpf_setting = MPU9X50_FILTER_42HZ;
     }
     else if (half_rate >= 20) {
-        lpf_setting = MPU9150_FILTER_20HZ;
+        lpf_setting = MPU9X50_FILTER_20HZ;
     }
     else if (half_rate >= 10) {
-        lpf_setting = MPU9150_FILTER_10HZ;
+        lpf_setting = MPU9X50_FILTER_10HZ;
     }
     else {
-        lpf_setting = MPU9150_FILTER_5HZ;
+        lpf_setting = MPU9X50_FILTER_5HZ;
     }
 
     /* Write LPF setting to configuration register */
-    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_LPF_REG, lpf_setting, 0);
+    i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9X50_LPF_REG, lpf_setting, 0);
 }
diff --git a/drivers/mpu9150/mpu9150_saul.c b/drivers/mpu9x50/mpu9x50_saul.c
similarity index 66%
rename from drivers/mpu9150/mpu9150_saul.c
rename to drivers/mpu9x50/mpu9x50_saul.c
index 0b6d078519..8e1162c630 100644
--- a/drivers/mpu9150/mpu9150_saul.c
+++ b/drivers/mpu9x50/mpu9x50_saul.c
@@ -1,5 +1,6 @@
 /*
  * Copyright (C) 2017 Inria
+ *               2019 HAW Hamburg
  *
  * 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
@@ -7,13 +8,14 @@
  */
 
 /**
- * @ingroup     drivers_mpu9150
+ * @ingroup     drivers_mpu9x50
  * @{
  *
  * @file
- * @brief       MPU9150 adaption to the RIOT actuator/sensor interface
+ * @brief       MPU9X50 adaption to the RIOT actuator/sensor interface
  *
  * @author      Alexandre Abadie <alexandre.abadie@inria.fr>
+ * @author      Jannes Volkens <jannes.volkens@haw-hamburg.de>
  *
  * @}
  */
@@ -21,11 +23,11 @@
 #include <string.h>
 
 #include "saul.h"
-#include "mpu9150.h"
+#include "mpu9x50.h"
 
 static int read_acc(const void *dev, phydat_t *res)
 {
-    int ret = mpu9150_read_accel((const mpu9150_t *)dev, (mpu9150_results_t *)res->val);
+    int ret = mpu9x50_read_accel((const mpu9x50_t *)dev, (mpu9x50_results_t *)res->val);
     if (ret < 0) {
         return -ECANCELED;
     }
@@ -38,7 +40,7 @@ static int read_acc(const void *dev, phydat_t *res)
 
 static int read_gyro(const void *dev, phydat_t *res)
 {
-    int ret = mpu9150_read_gyro((const mpu9150_t *)dev, (mpu9150_results_t *)res->val);
+    int ret = mpu9x50_read_gyro((const mpu9x50_t *)dev, (mpu9x50_results_t *)res->val);
     if (ret < 0) {
         return -ECANCELED;
     }
@@ -51,7 +53,7 @@ static int read_gyro(const void *dev, phydat_t *res)
 
 static int read_mag(const void *dev, phydat_t *res)
 {
-    int ret = mpu9150_read_compass((const mpu9150_t *)dev, (mpu9150_results_t *)res->val);
+    int ret = mpu9x50_read_compass((const mpu9x50_t *)dev, (mpu9x50_results_t *)res->val);
     if (ret < 0) {
         return -ECANCELED;
     }
@@ -62,19 +64,19 @@ static int read_mag(const void *dev, phydat_t *res)
     return 3;
 }
 
-const saul_driver_t mpu9150_saul_acc_driver = {
+const saul_driver_t mpu9x50_saul_acc_driver = {
     .read = read_acc,
     .write = saul_notsup,
     .type = SAUL_SENSE_ACCEL,
 };
 
-const saul_driver_t mpu9150_saul_gyro_driver = {
+const saul_driver_t mpu9x50_saul_gyro_driver = {
     .read = read_gyro,
     .write = saul_notsup,
     .type = SAUL_SENSE_GYRO,
 };
 
-const saul_driver_t mpu9150_saul_mag_driver = {
+const saul_driver_t mpu9x50_saul_mag_driver = {
     .read = read_mag,
     .write = saul_notsup,
     .type = SAUL_SENSE_MAG,
diff --git a/makefiles/pseudomodules.inc.mk b/makefiles/pseudomodules.inc.mk
index b1b2d046d6..71642eb3ec 100644
--- a/makefiles/pseudomodules.inc.mk
+++ b/makefiles/pseudomodules.inc.mk
@@ -112,6 +112,10 @@ PSEUDOMODULES += cc1100
 PSEUDOMODULES += cc1100e
 PSEUDOMODULES += cc1101
 
+# include variants of MPU9X50 drivers as pseudo modules
+PSEUDOMODULES += mpu9150
+PSEUDOMODULES += mpu9250
+
 # include variants of mrf24j40 drivers as pseudo modules
 PSEUDOMODULES += mrf24j40m%
 
diff --git a/sys/auto_init/auto_init.c b/sys/auto_init/auto_init.c
index 872faf6fce..e8704c8ffb 100644
--- a/sys/auto_init/auto_init.c
+++ b/sys/auto_init/auto_init.c
@@ -482,9 +482,9 @@ void auto_init(void)
     extern void auto_init_mpl3115a2(void);
     auto_init_mpl3115a2();
 #endif
-#ifdef MODULE_MPU9150
-    extern void auto_init_mpu9150(void);
-    auto_init_mpu9150();
+#ifdef MODULE_MPU9X50
+    extern void auto_init_mpu9x50(void);
+    auto_init_mpu9x50();
 #endif
 #ifdef MODULE_OPT3001
     extern void auto_init_opt3001(void);
diff --git a/sys/auto_init/saul/auto_init_mpu9150.c b/sys/auto_init/saul/auto_init_mpu9150.c
deleted file mode 100644
index fa0ca82ce9..0000000000
--- a/sys/auto_init/saul/auto_init_mpu9150.c
+++ /dev/null
@@ -1,89 +0,0 @@
-/*
- * Copyright (C) 2017 Inria
- *
- * 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     sys_auto_init_saul
- * @{
- *
- * @file
- * @brief       Auto initialization of MPU9150 accelerometer/magnetometer
- *
- * @author      Alexandre Abadie <alexandre.abadie@inria.fr>
- *
- * @}
- */
-
-#ifdef MODULE_MPU9150
-
-#include "assert.h"
-#include "log.h"
-#include "saul_reg.h"
-#include "mpu9150.h"
-#include "mpu9150_params.h"
-
-/**
- * @brief   Define the number of configured sensors
- */
-#define MPU9150_NUM         ARRAY_SIZE(mpu9150_params)
-
-/**
- * @brief   Allocate memory for the device descriptors
- */
-static mpu9150_t mpu9150_devs[MPU9150_NUM];
-
-/**
- * @brief   Memory for the SAUL registry entries
- */
-static saul_reg_t saul_entries[MPU9150_NUM * 3];
-
-/**
- * @brief   Define the number of saul info
- */
-#define MPU9150_INFO_NUM    ARRAY_SIZE(mpu9150_saul_info)
-
-/**
- * @name    Reference the driver structs
- * @{
- */
-extern saul_driver_t mpu9150_saul_acc_driver;
-extern saul_driver_t mpu9150_saul_gyro_driver;
-extern saul_driver_t mpu9150_saul_mag_driver;
-
-/** @} */
-
-void auto_init_mpu9150(void)
-{
-    assert(MPU9150_NUM == MPU9150_INFO_NUM);
-
-    for (unsigned int i = 0; i < MPU9150_NUM; i++) {
-        LOG_DEBUG("[auto_init_saul] initializing mpu9150 #%u\n", i);
-
-        if (mpu9150_init(&mpu9150_devs[i], &mpu9150_params[i]) < 0) {
-            LOG_ERROR("[auto_init_saul] error initializing mpu9150 #%u\n", i);
-            continue;
-        }
-
-        saul_entries[(i * 3)].dev = &(mpu9150_devs[i]);
-        saul_entries[(i * 3)].name = mpu9150_saul_info[i].name;
-        saul_entries[(i * 3)].driver = &mpu9150_saul_acc_driver;
-        saul_entries[(i * 3) + 1].dev = &(mpu9150_devs[i]);
-        saul_entries[(i * 3) + 1].name = mpu9150_saul_info[i].name;
-        saul_entries[(i * 3) + 1].driver = &mpu9150_saul_gyro_driver;
-        saul_entries[(i * 3) + 2].dev = &(mpu9150_devs[i]);
-        saul_entries[(i * 3) + 2].name = mpu9150_saul_info[i].name;
-        saul_entries[(i * 3) + 2].driver = &mpu9150_saul_mag_driver;
-        saul_reg_add(&(saul_entries[(i * 3)]));
-        saul_reg_add(&(saul_entries[(i * 3) + 1]));
-        saul_reg_add(&(saul_entries[(i * 3) + 2]));
-    }
-}
-
-#else
-typedef int dont_be_pedantic;
-#endif /* MODULE_MPU9150 */
diff --git a/sys/auto_init/saul/auto_init_mpu9x50.c b/sys/auto_init/saul/auto_init_mpu9x50.c
new file mode 100644
index 0000000000..01e15cfc18
--- /dev/null
+++ b/sys/auto_init/saul/auto_init_mpu9x50.c
@@ -0,0 +1,89 @@
+/*
+ * Copyright (C) 2017 Inria
+ *
+ * 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     sys_auto_init_saul
+ * @{
+ *
+ * @file
+ * @brief       Auto initialization of MPU9X50 (MPU9150 and MPU9250) accelerometer/magnetometer
+ *
+ * @author      Alexandre Abadie <alexandre.abadie@inria.fr>
+ *
+ * @}
+ */
+
+#ifdef MODULE_MPU9X50
+
+#include "assert.h"
+#include "log.h"
+#include "saul_reg.h"
+#include "mpu9x50.h"
+#include "mpu9x50_params.h"
+
+/**
+ * @brief   Define the number of configured sensors
+ */
+#define MPU9X50_NUM         ARRAY_SIZE(mpu9x50_params)
+
+/**
+ * @brief   Allocate memory for the device descriptors
+ */
+static mpu9x50_t mpu9x50_devs[MPU9X50_NUM];
+
+/**
+ * @brief   Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[MPU9X50_NUM * 3];
+
+/**
+ * @brief   Define the number of saul info
+ */
+#define MPU9X50_INFO_NUM    ARRAY_SIZE(mpu9x50_saul_info)
+
+/**
+ * @name    Reference the driver structs
+ * @{
+ */
+extern saul_driver_t mpu9x50_saul_acc_driver;
+extern saul_driver_t mpu9x50_saul_gyro_driver;
+extern saul_driver_t mpu9x50_saul_mag_driver;
+
+/** @} */
+
+void auto_init_mpu9x50(void)
+{
+    assert(MPU9X50_NUM == MPU9X50_INFO_NUM);
+
+    for (unsigned int i = 0; i < MPU9X50_NUM; i++) {
+        LOG_DEBUG("[auto_init_saul] initializing mpu9x50 #%u\n", i);
+
+        if (mpu9x50_init(&mpu9x50_devs[i], &mpu9x50_params[i]) < 0) {
+            LOG_ERROR("[auto_init_saul] error initializing mpu9x50 #%u\n", i);
+            continue;
+        }
+
+        saul_entries[(i * 3)].dev = &(mpu9x50_devs[i]);
+        saul_entries[(i * 3)].name = mpu9x50_saul_info[i].name;
+        saul_entries[(i * 3)].driver = &mpu9x50_saul_acc_driver;
+        saul_entries[(i * 3) + 1].dev = &(mpu9x50_devs[i]);
+        saul_entries[(i * 3) + 1].name = mpu9x50_saul_info[i].name;
+        saul_entries[(i * 3) + 1].driver = &mpu9x50_saul_gyro_driver;
+        saul_entries[(i * 3) + 2].dev = &(mpu9x50_devs[i]);
+        saul_entries[(i * 3) + 2].name = mpu9x50_saul_info[i].name;
+        saul_entries[(i * 3) + 2].driver = &mpu9x50_saul_mag_driver;
+        saul_reg_add(&(saul_entries[(i * 3)]));
+        saul_reg_add(&(saul_entries[(i * 3) + 1]));
+        saul_reg_add(&(saul_entries[(i * 3) + 2]));
+    }
+}
+
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_MPU9X50 */
diff --git a/tests/driver_mpu9150/Makefile b/tests/driver_mpu9x50/Makefile
similarity index 83%
rename from tests/driver_mpu9150/Makefile
rename to tests/driver_mpu9x50/Makefile
index 35b2625a4b..ad6a534a9d 100644
--- a/tests/driver_mpu9150/Makefile
+++ b/tests/driver_mpu9x50/Makefile
@@ -2,8 +2,9 @@ include ../Makefile.tests_common
 
 BOARD_INSUFFICIENT_MEMORY := arduino-duemilanove arduino-leonardo arduino-nano\
                              arduino-uno
+DRIVER ?= mpu9150
 
-USEMODULE += mpu9150
+USEMODULE += $(DRIVER)
 USEMODULE += xtimer
 
 include $(RIOTBASE)/Makefile.include
diff --git a/tests/driver_mpu9150/README.md b/tests/driver_mpu9x50/README.md
similarity index 57%
rename from tests/driver_mpu9150/README.md
rename to tests/driver_mpu9x50/README.md
index a81ac4850c..c39349cda5 100644
--- a/tests/driver_mpu9150/README.md
+++ b/tests/driver_mpu9x50/README.md
@@ -1,8 +1,8 @@
 # About
-This is a test application for the MPU-9150 Nine-Axis Driver.
+This is a test application for the MPU-9X50 (MPU9150 and MPU9250) Nine-Axis Driver.
 
 # Usage
-The application will initialize the MPU-9150 motion sensor with the following parameters:
+The application will initialize the MPU-9X50 (MPU9150 and MPU9250) motion sensor with the following parameters:
  - Accelerometer: ON
  - Gyroscope: ON
  - Magnetometer: ON
diff --git a/tests/driver_mpu9150/main.c b/tests/driver_mpu9x50/main.c
similarity index 79%
rename from tests/driver_mpu9150/main.c
rename to tests/driver_mpu9x50/main.c
index c8ea2f678d..cc94aee703 100644
--- a/tests/driver_mpu9150/main.c
+++ b/tests/driver_mpu9x50/main.c
@@ -1,5 +1,6 @@
 /*
  * Copyright (C) 2015 Freie Universität Berlin
+ *               2019 HAW Hamburg
  *
  * 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
@@ -11,9 +12,10 @@
  * @{
  *
  * @file
- * @brief       Test application for the MPU-9150 Nine-Axis driver
+ * @brief       Test application for the MPU-9X50 (MPU9150 and MPU9250) Nine-Axis driver
  *
  * @author      Fabian Nack <nack@inf.fu-berlin.de>
+ * @author      Jannes Volkens <jannes.volkens@haw-hamburg.de>
  *
  * @}
  */
@@ -24,22 +26,22 @@
 #include "xtimer.h"
 #include "board.h"
 
-#include "mpu9150.h"
-#include "mpu9150_params.h"
+#include "mpu9x50.h"
+#include "mpu9x50_params.h"
 
 #define SLEEP_USEC   (1000 * 1000u)
 
 int main(void)
 {
-    mpu9150_t dev;
-    mpu9150_results_t measurement;
+    mpu9x50_t dev;
+    mpu9x50_results_t measurement;
     int32_t temperature;
     int result;
 
-    puts("MPU-9150 test application\n");
+    puts("MPU-9X50 test application\n");
 
     printf("+------------Initializing------------+\n");
-    result = mpu9150_init(&dev, &mpu9150_params[0]);
+    result = mpu9x50_init(&dev, &mpu9x50_params[0]);
 
     if (result == -1) {
         puts("[Error] The given i2c is not enabled");
@@ -50,12 +52,12 @@ int main(void)
         return 1;
     }
 
-    mpu9150_set_sample_rate(&dev, 200);
+    mpu9x50_set_sample_rate(&dev, 200);
     if (dev.conf.sample_rate != 200) {
         puts("[Error] The sample rate was not set correctly");
         return 1;
     }
-    mpu9150_set_compass_sample_rate(&dev, 100);
+    mpu9x50_set_compass_sample_rate(&dev, 100);
     if (dev.conf.compass_sample_rate != 100) {
         puts("[Error] The compass sample rate was not set correctly");
         return 1;
@@ -74,19 +76,19 @@ int main(void)
     printf("\n+--------Starting Measurements--------+\n");
     while (1) {
         /* Get accel data in milli g */
-        mpu9150_read_accel(&dev, &measurement);
+        mpu9x50_read_accel(&dev, &measurement);
         printf("Accel data [milli g] - X: %"PRId16"   Y: %"PRId16"   Z: %"PRId16"\n",
                 measurement.x_axis, measurement.y_axis, measurement.z_axis);
         /* Get gyro data in dps */
-        mpu9150_read_gyro(&dev, &measurement);
+        mpu9x50_read_gyro(&dev, &measurement);
         printf("Gyro data [dps] - X: %"PRId16"   Y: %"PRId16"   Z: %"PRId16"\n",
                 measurement.x_axis, measurement.y_axis, measurement.z_axis);
         /* Get compass data in mikro Tesla */
-        mpu9150_read_compass(&dev, &measurement);
+        mpu9x50_read_compass(&dev, &measurement);
         printf("Compass data [micro T] - X: %"PRId16"   Y: %"PRId16"   Z: %"PRId16"\n",
                 measurement.x_axis, measurement.y_axis, measurement.z_axis);
         /* Get temperature in milli degrees celsius */
-        mpu9150_read_temperature(&dev, &temperature);
+        mpu9x50_read_temperature(&dev, &temperature);
         printf("Temperature [milli deg] : %"PRId32"\n", temperature);
         printf("\n+-------------------------------------+\n");