diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 7cfd3a05c144..04215bc6e8ab 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -164,9 +164,41 @@ struct inv_mpu6050_state {
 #define INV_MPU6050_REG_ACCEL_CONFIG        0x1C
 
 #define INV_MPU6050_REG_FIFO_EN             0x23
+#define INV_MPU6050_BIT_SLAVE_0             0x01
+#define INV_MPU6050_BIT_SLAVE_1             0x02
+#define INV_MPU6050_BIT_SLAVE_2             0x04
 #define INV_MPU6050_BIT_ACCEL_OUT           0x08
 #define INV_MPU6050_BITS_GYRO_OUT           0x70
 
+#define INV_MPU6050_REG_I2C_MST_CTRL        0x24
+#define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D
+#define INV_MPU6050_BIT_I2C_MST_P_NSR       0x10
+#define INV_MPU6050_BIT_SLV3_FIFO_EN        0x20
+#define INV_MPU6050_BIT_WAIT_FOR_ES         0x40
+#define INV_MPU6050_BIT_MULT_MST_EN         0x80
+
+/* control I2C slaves from 0 to 3 */
+#define INV_MPU6050_REG_I2C_SLV_ADDR(_x)    (0x25 + 3 * (_x))
+#define INV_MPU6050_BIT_I2C_SLV_RNW         0x80
+
+#define INV_MPU6050_REG_I2C_SLV_REG(_x)     (0x26 + 3 * (_x))
+
+#define INV_MPU6050_REG_I2C_SLV_CTRL(_x)    (0x27 + 3 * (_x))
+#define INV_MPU6050_BIT_SLV_GRP             0x10
+#define INV_MPU6050_BIT_SLV_REG_DIS         0x20
+#define INV_MPU6050_BIT_SLV_BYTE_SW         0x40
+#define INV_MPU6050_BIT_SLV_EN              0x80
+
+/* I2C master delay register */
+#define INV_MPU6050_REG_I2C_SLV4_CTRL       0x34
+#define INV_MPU6050_BITS_I2C_MST_DLY(_x)    ((_x) & 0x1F)
+
+#define INV_MPU6050_REG_I2C_MST_STATUS      0x36
+#define INV_MPU6050_BIT_I2C_SLV0_NACK       0x01
+#define INV_MPU6050_BIT_I2C_SLV1_NACK       0x02
+#define INV_MPU6050_BIT_I2C_SLV2_NACK       0x04
+#define INV_MPU6050_BIT_I2C_SLV3_NACK       0x08
+
 #define INV_MPU6050_REG_INT_ENABLE          0x38
 #define INV_MPU6050_BIT_DATA_RDY_EN         0x01
 #define INV_MPU6050_BIT_DMP_INT_EN          0x02
@@ -179,6 +211,18 @@ struct inv_mpu6050_state {
 #define INV_MPU6050_BIT_FIFO_OVERFLOW_INT   0x10
 #define INV_MPU6050_BIT_RAW_DATA_RDY_INT    0x01
 
+#define INV_MPU6050_REG_EXT_SENS_DATA       0x49
+
+/* I2C slaves data output from 0 to 3 */
+#define INV_MPU6050_REG_I2C_SLV_DO(_x)      (0x63 + (_x))
+
+#define INV_MPU6050_REG_I2C_MST_DELAY_CTRL  0x67
+#define INV_MPU6050_BIT_I2C_SLV0_DLY_EN     0x01
+#define INV_MPU6050_BIT_I2C_SLV1_DLY_EN     0x02
+#define INV_MPU6050_BIT_I2C_SLV2_DLY_EN     0x04
+#define INV_MPU6050_BIT_I2C_SLV3_DLY_EN     0x08
+#define INV_MPU6050_BIT_DELAY_ES_SHADOW     0x80
+
 #define INV_MPU6050_REG_USER_CTRL           0x6A
 #define INV_MPU6050_BIT_FIFO_RST            0x04
 #define INV_MPU6050_BIT_DMP_RST             0x08
@@ -206,6 +250,9 @@ struct inv_mpu6050_state {
 #define INV_MPU6050_BYTES_PER_3AXIS_SENSOR   6
 #define INV_MPU6050_FIFO_COUNT_BYTE          2
 
+/* MPU9X50 9-axis magnetometer */
+#define INV_MPU9X50_BYTES_MAGN               7
+
 /* ICM20602 FIFO samples include temperature readings */
 #define INV_ICM20602_BYTES_PER_TEMP_SENSOR   2
 
@@ -233,8 +280,8 @@ struct inv_mpu6050_state {
 #define INV_ICM20602_TEMP_OFFSET	     8170
 #define INV_ICM20602_TEMP_SCALE		     3060
 
-/* 6 + 6 round up and plus 8 */
-#define INV_MPU6050_OUTPUT_DATA_SIZE         24
+/* 6 + 6 + 7 (for MPU9x50) = 19 round up to 24 and plus 8 */
+#define INV_MPU6050_OUTPUT_DATA_SIZE         32
 
 #define INV_MPU6050_REG_INT_PIN_CFG	0x37
 #define INV_MPU6050_ACTIVE_HIGH		0x00
@@ -283,6 +330,11 @@ enum inv_mpu6050_scan {
 	INV_MPU6050_SCAN_GYRO_Y,
 	INV_MPU6050_SCAN_GYRO_Z,
 	INV_MPU6050_SCAN_TIMESTAMP,
+
+	INV_MPU9X50_SCAN_MAGN_X = INV_MPU6050_SCAN_GYRO_Z + 1,
+	INV_MPU9X50_SCAN_MAGN_Y,
+	INV_MPU9X50_SCAN_MAGN_Z,
+	INV_MPU9X50_SCAN_TIMESTAMP,
 };
 
 /* scan element definition for ICM20602, which includes temperature */