diff --git a/drivers/saul/init_devs/auto_init_apds99xx.c b/drivers/saul/init_devs/auto_init_apds99xx.c
new file mode 100644
index 0000000000..8812d186de
--- /dev/null
+++ b/drivers/saul/init_devs/auto_init_apds99xx.c
@@ -0,0 +1,108 @@
+/*
+ * Copyright (C) 2018 Gunar Schorcht
+ *
+ * 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_apds99xx
+ * @{
+ * @ingroup     sys_auto_init_saul
+ * @brief       Auto initialization of Broadcom APDS99XX proximity and ambient light sensor
+ * @author      Gunar Schorcht <gunar@schorcht.net>
+ * @file
+ * @}
+ */
+
+#ifdef MODULE_APDS99XX
+
+#include "assert.h"
+#include "log.h"
+#include "saul_reg.h"
+#include "apds99xx.h"
+#include "apds99xx_params.h"
+
+/**
+ * @name    Reference the driver structs
+ * @{
+ */
+extern saul_driver_t apds99xx_saul_prx_driver;
+extern saul_driver_t apds99xx_saul_als_driver;
+#if MODULE_APDS9900 || MODULE_APDS9901 || MODULE_APDS9930
+extern saul_driver_t apds99xx_saul_lux_driver;
+#endif
+#if MODULE_APDS9950 || MODULE_APDS9960
+extern saul_driver_t apds99xx_saul_rgb_driver;
+#endif
+
+#define APDS99XX_SAUL_ENTRY_NUM 3
+
+/** @} */
+
+/**
+ * @brief   Define the number of configured sensors
+ */
+#define APDS99XX_NUM    (sizeof(apds99xx_params) / sizeof(apds99xx_params[0]))
+
+/**
+ * @brief   Allocate memory for the device descriptors
+ */
+static apds99xx_t apds99xx_devs[APDS99XX_NUM];
+
+/**
+ * @brief   Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[APDS99XX_NUM * APDS99XX_SAUL_ENTRY_NUM];
+
+/**
+ * @brief   Define the number of saul info
+ */
+#define APDS99XX_INFO_NUM    (sizeof(apds99xx_saul_info) / sizeof(apds99xx_saul_info[0]))
+
+void auto_init_apds99xx(void)
+{
+    assert(APDS99XX_NUM == APDS99XX_INFO_NUM);
+
+    for (unsigned int i = 0; i < APDS99XX_NUM; i++) {
+        LOG_DEBUG("[auto_init_saul] initializing apds99xx #%u\n", i);
+
+        if (apds99xx_init(&apds99xx_devs[i], &apds99xx_params[i]) < 0) {
+            LOG_ERROR("[auto_init_saul] error initializing apds99xx #%u\n", i);
+            continue;
+        }
+
+        /* proximity */
+        saul_entries[(i * APDS99XX_SAUL_ENTRY_NUM)].dev = &(apds99xx_devs[i]);
+        saul_entries[(i * APDS99XX_SAUL_ENTRY_NUM)].name = apds99xx_saul_info[i].name;
+        saul_entries[(i * APDS99XX_SAUL_ENTRY_NUM)].driver = &apds99xx_saul_prx_driver;
+        saul_reg_add(&(saul_entries[(i * APDS99XX_SAUL_ENTRY_NUM)]));
+
+        /* ambient light sensing */
+        saul_entries[(i * APDS99XX_SAUL_ENTRY_NUM) + 1].dev = &(apds99xx_devs[i]);
+        saul_entries[(i * APDS99XX_SAUL_ENTRY_NUM) + 1].name = apds99xx_saul_info[i].name;
+        saul_entries[(i * APDS99XX_SAUL_ENTRY_NUM) + 1].driver = &apds99xx_saul_als_driver;
+        saul_reg_add(&(saul_entries[(i * APDS99XX_SAUL_ENTRY_NUM) + 1]));
+
+        #if MODULE_APDS9900 || MODULE_APDS9901 || MODULE_APDS9930
+        /* illuminance */
+        saul_entries[(i * APDS99XX_SAUL_ENTRY_NUM) + 2].dev = &(apds99xx_devs[i]);
+        saul_entries[(i * APDS99XX_SAUL_ENTRY_NUM) + 2].name = apds99xx_saul_info[i].name;
+        saul_entries[(i * APDS99XX_SAUL_ENTRY_NUM) + 2].driver = &apds99xx_saul_lux_driver;
+        saul_reg_add(&(saul_entries[(i * APDS99XX_SAUL_ENTRY_NUM) + 2]));
+        #endif
+
+        #if MODULE_APDS9950 || MODULE_APDS9960
+        /* RGB sensing */
+        saul_entries[(i * APDS99XX_SAUL_ENTRY_NUM) + 2].dev = &(apds99xx_devs[i]);
+        saul_entries[(i * APDS99XX_SAUL_ENTRY_NUM) + 2].name = apds99xx_saul_info[i].name;
+        saul_entries[(i * APDS99XX_SAUL_ENTRY_NUM) + 2].driver = &apds99xx_saul_rgb_driver;
+        saul_reg_add(&(saul_entries[(i * APDS99XX_SAUL_ENTRY_NUM) + 2]));
+        #endif
+    }
+}
+
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_APDS99XX */
diff --git a/drivers/saul/init_devs/init.c b/drivers/saul/init_devs/init.c
index 87ea52213e..cc4860c1f9 100644
--- a/drivers/saul/init_devs/init.c
+++ b/drivers/saul/init_devs/init.c
@@ -55,6 +55,10 @@ void saul_init_devs(void)
         extern void auto_init_adxl345(void);
         auto_init_adxl345();
     }
+    if (IS_USED(MODULE_APDS99XX)) {
+        extern void auto_init_apds99xx(void);
+        auto_init_apds99xx();
+    }
     if (IS_USED(MODULE_BMP180)) {
         extern void auto_init_bmp180(void);
         auto_init_bmp180();