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diff --git a/peripheral/libupm/src/mpu9150/mpu9250.hpp b/peripheral/libupm/src/mpu9150/mpu9250.hpp
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+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include "mpu9150.hpp"
+
+#define MPU9250_I2C_BUS 0
+#define MPU9250_DEFAULT_I2C_ADDR  MPU9150_DEFAULT_I2C_ADDR
+
+
+namespace upm {
+
+  /**
+   * @library mpu9150
+   * @sensor mpu9250
+   * @comname MPU9250 Inertial Measurement Unit
+   * @altname Grove IMU 9DOF V2
+   * @type accelerometer compass
+   * @man seeed
+   * @web http://www.seeedstudio.com/wiki/Grove_-_IMU_9DOF_v2.0
+   * @con i2c gpio
+   *
+   * @brief API for MPU9250 chip (Accelerometer, Gyro and Magnometer Sensor)
+   *
+   * This module defines the MPU9250 interface for libmpu9150
+   *
+   * @image html mpu9250.jpg
+   * @snippet mpu9250.cxx Interesting
+   */
+
+  class MPU9250: public MPU9150
+  {
+  public:
+    /**
+     * MPU9250 constructor
+     *
+     * @param bus I2C bus to use
+     * @param address The address for this device
+     * @param magAddress The address of the connected magnetometer
+     * @param enableAk8975 Enables i2c bypass mode for magnetometer, default
+     * is true
+     */
+    MPU9250 (int bus=MPU9250_I2C_BUS, int address=MPU9250_DEFAULT_I2C_ADDR,
+             int magAddress=AK8975_DEFAULT_I2C_ADDR, bool enableAk8975=true);
+
+    /**
+     * MPU9250 destructor
+     */
+    ~MPU9250 ();
+
+    /**
+     * get the temperature value
+     *
+     * @return the temperature value in degrees Celcius
+     */
+    float getTemperature();
+
+  protected:
+
+  private:
+  };
+
+}