diff --git a/drivers/include/mpu9x50.h b/drivers/include/mpu9x50.h
index bc73a441c3..05336ea77c 100644
--- a/drivers/include/mpu9x50.h
+++ b/drivers/include/mpu9x50.h
@@ -43,59 +43,6 @@ extern "C" {
 #define MPU9X50_MAX_COMP_SMPL_RATE  (100)
 /** @} */
 
-/**
- * @name    Power Management 1 register macros
- * @{
- */
-#define MPU9X50_PWR_WAKEUP          (0x00)
-#define MPU9X50_PWR_PLL             (0x01)
-#define MPU9X50_PWR_RESET           (0x80)
-/** @} */
-
-/**
- * @name    Power Management 2 register macros
- * @{
- */
-#define MPU9X50_PWR_GYRO            (0x07)
-#define MPU9X50_PWR_ACCEL           (0x38)
-/** @} */
-
-/**
- * @name    Sleep times in microseconds
- * @{
- */
-#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-9X50 compass operating modes and reg values
- * @{
- */
-#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 defined(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
  */
diff --git a/drivers/mpu9x50/include/mpu9x50_internal.h b/drivers/mpu9x50/include/mpu9x50_internal.h
new file mode 100644
index 0000000000..3c03479c4b
--- /dev/null
+++ b/drivers/mpu9x50/include/mpu9x50_internal.h
@@ -0,0 +1,83 @@
+/*
+ * Copyright (C) 2020 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       Internal config for the MPU-9X50 (MPU9150 and MPU9250)
+ *
+ * @author      Kevin Weiss <kevin.weiss@haw-hamburg.de>
+ */
+#ifndef MPU9X50_INTERNAL_H
+#define MPU9X50_INTERNAL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @name    Power Management 1 register macros
+ * @{
+ */
+#define MPU9X50_PWR_WAKEUP          (0x00)
+#define MPU9X50_PWR_PLL             (0x01)
+#define MPU9X50_PWR_RESET           (0x80)
+/** @} */
+
+/**
+ * @name    Power Management 2 register macros
+ * @{
+ */
+#define MPU9X50_PWR_GYRO            (0x07)
+#define MPU9X50_PWR_ACCEL           (0x38)
+/** @} */
+
+/**
+ * @name    Sleep times in microseconds
+ * @{
+ */
+#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-9X50 compass operating modes and reg values
+ * @{
+ */
+#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 */
+/** @} */
+
+/**
+ * @name    MPU-9X50 temperature calibration values
+ * @{
+ */
+#ifdef MODULE_MPU9150
+#define MPU9X50_TEMP_SENSITIVITY    340
+#define MPU9X50_TEMP_OFFSET         35
+#elif defined(MODULE_MPU9250)
+#define MPU9X50_TEMP_SENSITIVITY    333.87
+#define MPU9X50_TEMP_OFFSET         21
+#else
+#error "MPU9X50 DRIVER not selected or supported"
+#endif
+/** @} */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* MPU9X50_INTERNAL_H */
+/** @} */
diff --git a/drivers/mpu9x50/mpu9x50.c b/drivers/mpu9x50/mpu9x50.c
index b09df6a53d..cd53df559d 100644
--- a/drivers/mpu9x50/mpu9x50.c
+++ b/drivers/mpu9x50/mpu9x50.c
@@ -22,6 +22,7 @@
 
 #include "mpu9x50.h"
 #include "mpu9x50_regs.h"
+#include "mpu9x50_internal.h"
 #include "periph/i2c.h"
 #include "xtimer.h"
 #include "byteorder.h"