diff --git a/main.go b/main.go
index 2716836..1324513 100644
--- a/main.go
+++ b/main.go
@@ -4,8 +4,7 @@ package main
 import (
 	"context"
 
-	"tdk-invensense/mpu6050"
-	"tdk-invensense/mpu9250"
+	"tdk-invensense/mpu"
 
 	"go.viam.com/rdk/components/movementsensor"
 	"go.viam.com/rdk/logging"
@@ -23,11 +22,11 @@ func mainWithArgs(ctx context.Context, args []string, logger logging.Logger) err
 		return err
 	}
 
-	if err = module.AddModelFromRegistry(ctx, movementsensor.API, mpu6050.Model); err != nil {
+	if err = module.AddModelFromRegistry(ctx, movementsensor.API, mpu.Model6050); err != nil {
 		return err
 	}
 
-	if err = module.AddModelFromRegistry(ctx, movementsensor.API, mpu9250.Model); err != nil {
+	if err = module.AddModelFromRegistry(ctx, movementsensor.API, mpu.Model9250); err != nil {
 		return err
 	}
 
diff --git a/mpu6050/mpu6050.go b/mpu/mpu6050.go
similarity index 85%
rename from mpu6050/mpu6050.go
rename to mpu/mpu6050.go
index 4e4c1c0..f64b473 100644
--- a/mpu6050/mpu6050.go
+++ b/mpu/mpu6050.go
@@ -18,7 +18,7 @@
 //
 // If you use the alternate address, your config file for this component must set its
 // "use_alternate_i2c_address" boolean to true.
-package mpu6050
+package mpu
 
 import (
 	"context"
@@ -39,7 +39,7 @@ import (
 )
 
 // Model for viam supported tdk-invensense mpu6050 movement sensor.
-var Model = resource.NewModel("viam", "tdk-invensense", "mpu6050")
+var Model6050 = resource.NewModel("viam", "tdk-invensense", "mpu6050")
 
 const (
 	defaultAddressRegister = 117
@@ -65,16 +65,17 @@ func (conf *Config) Validate(path string) ([]string, error) {
 }
 
 func init() {
-	resource.RegisterComponent(movementsensor.API, Model, resource.Registration[movementsensor.MovementSensor, *Config]{
+	resource.RegisterComponent(movementsensor.API, Model6050, resource.Registration[movementsensor.MovementSensor, *Config]{
 		Constructor: newMpu6050,
 	})
 }
 
-type mpu6050 struct {
+type mpu struct {
 	resource.Named
 	resource.AlwaysRebuild
 	bus        buses.I2C
 	i2cAddress byte
+	magAddress byte
 	mu         sync.Mutex
 
 	// The 3 things we can measure: lock the mutex before reading or writing these.
@@ -138,7 +139,7 @@ func makeMpu6050(
 	}
 	logger.CDebugf(ctx, "Using address %d for MPU6050 sensor", address)
 
-	sensor := &mpu6050{
+	sensor := &mpu{
 		Named:      conf.ResourceName().AsNamed(),
 		bus:        bus,
 		i2cAddress: address,
@@ -206,7 +207,7 @@ func makeMpu6050(
 	return sensor, nil
 }
 
-func (mpu *mpu6050) readByte(ctx context.Context, register byte) (byte, error) {
+func (mpu *mpu) readByte(ctx context.Context, register byte) (byte, error) {
 	result, err := mpu.readBlock(ctx, register, 1)
 	if err != nil {
 		return 0, err
@@ -214,7 +215,7 @@ func (mpu *mpu6050) readByte(ctx context.Context, register byte) (byte, error) {
 	return result[0], err
 }
 
-func (mpu *mpu6050) readBlock(ctx context.Context, register byte, length uint8) ([]byte, error) {
+func (mpu *mpu) readBlock(ctx context.Context, register byte, length uint8) ([]byte, error) {
 	handle, err := mpu.bus.OpenHandle(mpu.i2cAddress)
 	if err != nil {
 		return nil, err
@@ -230,7 +231,7 @@ func (mpu *mpu6050) readBlock(ctx context.Context, register byte, length uint8)
 	return results, err
 }
 
-func (mpu *mpu6050) writeByte(ctx context.Context, register, value byte) error {
+func (mpu *mpu) writeByte(ctx context.Context, register, value byte) error {
 	handle, err := mpu.bus.OpenHandle(mpu.i2cAddress)
 	if err != nil {
 		return err
@@ -280,17 +281,17 @@ func toLinearAcceleration(data []byte) r3.Vector {
 	}
 }
 
-func (mpu *mpu6050) AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error) {
+func (mpu *mpu) AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error) {
 	mpu.mu.Lock()
 	defer mpu.mu.Unlock()
 	return mpu.angularVelocity, mpu.err.Get()
 }
 
-func (mpu *mpu6050) LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error) {
+func (mpu *mpu) LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error) {
 	return r3.Vector{}, movementsensor.ErrMethodUnimplementedLinearVelocity
 }
 
-func (mpu *mpu6050) LinearAcceleration(ctx context.Context, exta map[string]interface{}) (r3.Vector, error) {
+func (mpu *mpu) LinearAcceleration(ctx context.Context, exta map[string]interface{}) (r3.Vector, error) {
 	mpu.mu.Lock()
 	defer mpu.mu.Unlock()
 
@@ -301,23 +302,23 @@ func (mpu *mpu6050) LinearAcceleration(ctx context.Context, exta map[string]inte
 	return mpu.linearAcceleration, nil
 }
 
-func (mpu *mpu6050) Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error) {
+func (mpu *mpu) Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error) {
 	return spatialmath.NewOrientationVector(), movementsensor.ErrMethodUnimplementedOrientation
 }
 
-func (mpu *mpu6050) CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error) {
+func (mpu *mpu) CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error) {
 	return 0, movementsensor.ErrMethodUnimplementedCompassHeading
 }
 
-func (mpu *mpu6050) Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error) {
+func (mpu *mpu) Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error) {
 	return geo.NewPoint(0, 0), 0, movementsensor.ErrMethodUnimplementedPosition
 }
 
-func (mpu *mpu6050) Accuracy(ctx context.Context, extra map[string]interface{}) (*movementsensor.Accuracy, error) {
+func (mpu *mpu) Accuracy(ctx context.Context, extra map[string]interface{}) (*movementsensor.Accuracy, error) {
 	return movementsensor.UnimplementedOptionalAccuracies(), nil
 }
 
-func (mpu *mpu6050) Readings(ctx context.Context, extra map[string]interface{}) (map[string]interface{}, error) {
+func (mpu *mpu) Readings(ctx context.Context, extra map[string]interface{}) (map[string]interface{}, error) {
 	mpu.mu.Lock()
 	defer mpu.mu.Unlock()
 
@@ -329,14 +330,14 @@ func (mpu *mpu6050) Readings(ctx context.Context, extra map[string]interface{})
 	return readings, mpu.err.Get()
 }
 
-func (mpu *mpu6050) Properties(ctx context.Context, extra map[string]interface{}) (*movementsensor.Properties, error) {
+func (mpu *mpu) Properties(ctx context.Context, extra map[string]interface{}) (*movementsensor.Properties, error) {
 	return &movementsensor.Properties{
 		AngularVelocitySupported:    true,
 		LinearAccelerationSupported: true,
 	}, nil
 }
 
-func (mpu *mpu6050) Close(ctx context.Context) error {
+func (mpu *mpu) Close(ctx context.Context) error {
 	mpu.workers.Stop()
 
 	mpu.mu.Lock()
diff --git a/mpu6050/mpu6050_test.go b/mpu/mpu6050_test.go
similarity index 99%
rename from mpu6050/mpu6050_test.go
rename to mpu/mpu6050_test.go
index 561d70a..a96166f 100644
--- a/mpu6050/mpu6050_test.go
+++ b/mpu/mpu6050_test.go
@@ -1,6 +1,6 @@
 //go:build linux
 
-package mpu6050
+package mpu
 
 import (
 	"context"
diff --git a/mpu9250/mpu9250.go b/mpu/mpu9250.go
similarity index 56%
rename from mpu9250/mpu9250.go
rename to mpu/mpu9250.go
index d6b2d7d..38e4c06 100644
--- a/mpu9250/mpu9250.go
+++ b/mpu/mpu9250.go
@@ -1,6 +1,6 @@
 //go:build linux
 
-// Package mpu9250 implements the movementsensor interface for an MPU-9250 6-axis accelerometer. A
+// Package mpu implements the movementsensor interface for an MPU-9250 6-axis accelerometer. A
 // datasheet for this chip is at
 // https://invensense.tdk.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf and a
 // description of the I2C registers is at
@@ -16,16 +16,13 @@
 //
 // If you use the alternate address, your config file for this component must set its
 // "use_alternate_i2c_address" boolean to true.
-package mpu9250
+package mpu
 
 import (
 	"context"
-	"fmt"
-	"sync"
 	"time"
 
 	"github.com/golang/geo/r3"
-	geo "github.com/kellydunn/golang-geo"
 	"github.com/pkg/errors"
 	"go.viam.com/rdk/components/board/genericlinux/buses"
 	"go.viam.com/rdk/components/movementsensor"
@@ -38,7 +35,7 @@ import (
 
 var (
 	// Model for viam supported tdk-invensense mpu9250 movement sensor.
-	Model = resource.NewModel("viam", "tdk-invensense", "mpu9250")
+	Model9250 = resource.NewModel("viam", "tdk-invensense", "mpu9250")
 
 	// scales for various readings.
 	accelScale float64
@@ -46,63 +43,18 @@ var (
 )
 
 const (
-	defaultAddressRegister           = 117
-	expectedDefaultAddress           = 0x68
 	expectedConfigurationReadAddress = 0x71
-	alternateAddress                 = 0x69
+	magnetometerAddress              = 0x0C
+	magnetometerWhoAmI               = 0x00
+	magnetometerWhoAmIReturn         = 0x48
 )
 
-// Config is used to configure the attributes of the chip.
-type Config struct {
-	I2cBus                 string `json:"i2c_bus"`
-	UseAlternateI2CAddress bool   `json:"use_alt_i2c_address,omitempty"`
-}
-
-// Validate ensures all parts of the config are valid, and then returns the list of things we
-// depend on.
-func (conf *Config) Validate(path string) ([]string, error) {
-	if conf.I2cBus == "" {
-		return nil, resource.NewConfigValidationFieldRequiredError(path, "i2c_bus")
-	}
-
-	var deps []string
-	return deps, nil
-}
-
 func init() {
-	resource.RegisterComponent(movementsensor.API, Model, resource.Registration[movementsensor.MovementSensor, *Config]{
+	resource.RegisterComponent(movementsensor.API, Model9250, resource.Registration[movementsensor.MovementSensor, *Config]{
 		Constructor: newMpu9250,
 	})
 }
 
-type mpu9250 struct {
-	resource.Named
-	resource.AlwaysRebuild
-	bus        buses.I2C
-	i2cAddress byte
-	mu         sync.Mutex
-
-	// The 3 things we can measure: lock the mutex before reading or writing these.
-	angularVelocity    spatialmath.AngularVelocity
-	temperature        float64
-	linearAcceleration r3.Vector
-	// Stores the most recent error from the background goroutine
-	err movementsensor.LastError
-
-	workers *goutils.StoppableWorkers
-	logger  logging.Logger
-}
-
-func addressReadError(err error, address byte, bus string) error {
-	msg := fmt.Sprintf("can't read from I2C address %d on bus %s", address, bus)
-	return errors.Wrap(err, msg)
-}
-
-func unexpectedDeviceError(address, defaultAddress byte) error {
-	return errors.Errorf("unexpected non-MPU9250 device at address %d: response '%d'",
-		address, defaultAddress)
-}
-
 // newMpu9250 constructs a new Mpu9250 object.
 func newMpu9250(
 	ctx context.Context,
@@ -143,10 +95,11 @@ func makeMpu9250(
 	}
 	logger.CDebugf(ctx, "Using address %d for MPU9250 sensor", address)
 
-	sensor := &mpu9250{
+	sensor := &mpu{
 		Named:      conf.ResourceName().AsNamed(),
 		bus:        bus,
 		i2cAddress: address,
+		magAddress: magnetometerAddress,
 		logger:     logger,
 		// On overloaded boards, the I2C bus can become flaky. Only report errors if at least 5 of
 		// the last 10 attempts to talk to the device have failed.
@@ -171,6 +124,32 @@ func makeMpu9250(
 		return nil, errors.Errorf("Unable to wake up MPU9250: '%s'", err.Error())
 	}
 
+	// enable passthrough
+	err = sensor.writeByte(ctx, 37, 0x22)
+	if err != nil {
+		return nil, errors.Errorf("Unable to enable passthrough: '%s'", err.Error())
+	}
+	logger.Error("enabled passthrough successfully")
+
+	err = sensor.writeByte(ctx, 38, 0x01)
+	if err != nil {
+		return nil, errors.Errorf("Unable to enable passthrough: '%s'", err.Error())
+	}
+	logger.Error("enabled passthrough successfully 2")
+
+	// // read pass through status
+	// passthroughStatus, err := sensor.readByte(ctx, defaultAddressRegister)
+	// if err != nil {
+	// 	return nil, errors.Errorf("Unable to read passthrough status: '%s'", err.Error())
+	// }
+	// logger.Errorf("PASSTHROUGH STATUS = %v", passthroughStatus>>7)
+
+	// read who am i magnetometer
+	defaultMagAddress, err := sensor.readMagByte(ctx, magnetometerWhoAmI)
+	if defaultMagAddress != magnetometerWhoAmIReturn {
+		logger.Errorf("mag address wrong. expected %v, got %v", magnetometerWhoAmIReturn, defaultMagAddress)
+	}
+
 	// set measurement scales
 	gyroScale, accelScale, err = sensor.getReadingScales(ctx)
 	if err != nil {
@@ -216,7 +195,46 @@ func makeMpu9250(
 	return sensor, nil
 }
 
-func (mpu *mpu9250) getReadingScales(ctx context.Context) (float64, float64, error) {
+func (mpu *mpu) readMagByte(ctx context.Context, register byte) (byte, error) {
+	result, err := mpu.readMagBlock(ctx, register, 1)
+	if err != nil {
+		return 0, err
+	}
+	return result[0], err
+}
+
+func (mpu *mpu) readMagBlock(ctx context.Context, register byte, length uint8) ([]byte, error) {
+	handle, err := mpu.bus.OpenHandle(mpu.magAddress)
+	if err != nil {
+		return nil, err
+	}
+	defer func() {
+		err := handle.Close()
+		if err != nil {
+			mpu.logger.CError(ctx, err)
+		}
+	}()
+
+	results, err := handle.ReadBlockData(ctx, register, length)
+	return results, err
+}
+
+func (mpu *mpu) writeMagByte(ctx context.Context, register, value byte) error {
+	handle, err := mpu.bus.OpenHandle(mpu.magAddress)
+	if err != nil {
+		return err
+	}
+	defer func() {
+		err := handle.Close()
+		if err != nil {
+			mpu.logger.CError(ctx, err)
+		}
+	}()
+
+	return handle.WriteByteData(ctx, register, value)
+}
+
+func (mpu *mpu) getReadingScales(ctx context.Context) (float64, float64, error) {
 	var gyroScale, accelScale float64
 	// get gyroscope scale
 	result, err := mpu.readByte(ctx, 27)
@@ -254,145 +272,36 @@ func (mpu *mpu9250) getReadingScales(ctx context.Context) (float64, float64, err
 	return gyroScale, accelScale, nil
 }
 
-func (mpu *mpu9250) readByte(ctx context.Context, register byte) (byte, error) {
-	result, err := mpu.readBlock(ctx, register, 1)
-	if err != nil {
-		return 0, err
-	}
-	return result[0], err
-}
-
-func (mpu *mpu9250) readBlock(ctx context.Context, register byte, length uint8) ([]byte, error) {
-	handle, err := mpu.bus.OpenHandle(mpu.i2cAddress)
-	if err != nil {
-		return nil, err
-	}
-	defer func() {
-		err := handle.Close()
-		if err != nil {
-			mpu.logger.CError(ctx, err)
-		}
-	}()
-
-	results, err := handle.ReadBlockData(ctx, register, length)
-	return results, err
-}
-
-func (mpu *mpu9250) writeByte(ctx context.Context, register, value byte) error {
-	handle, err := mpu.bus.OpenHandle(mpu.i2cAddress)
-	if err != nil {
-		return err
-	}
-	defer func() {
-		err := handle.Close()
-		if err != nil {
-			mpu.logger.CError(ctx, err)
-		}
-	}()
-
-	return handle.WriteByteData(ctx, register, value)
-}
-
 // Given a value, scales it so that the range of int16s becomes the range of +/- maxValue.
-func setScale(value int, maxValue float64) float64 {
+func setScale9250(value int, maxValue float64) float64 {
 	return float64(value) * maxValue
 }
 
 // A helper function to abstract out shared code: takes 6 bytes and gives back AngularVelocity, in
 // radians per second.
-func toAngularVelocity(data []byte) spatialmath.AngularVelocity {
+func toAngularVelocity9250(data []byte) spatialmath.AngularVelocity {
 	gx := int(utils.Int16FromBytesBE(data[0:2]))
 	gy := int(utils.Int16FromBytesBE(data[2:4]))
 	gz := int(utils.Int16FromBytesBE(data[4:6]))
 
-	// maxRotation := 250.0 // Maximum degrees per second measurable in the default configuration
+	// gyroScale is the maximum degrees per second measurable
 	return spatialmath.AngularVelocity{
-		X: setScale(gx, gyroScale),
-		Y: setScale(gy, gyroScale),
-		Z: setScale(gz, gyroScale),
+		X: setScale9250(gx, gyroScale),
+		Y: setScale9250(gy, gyroScale),
+		Z: setScale9250(gz, gyroScale),
 	}
 }
 
 // A helper function that takes 6 bytes and gives back linear acceleration.
-func toLinearAcceleration(data []byte) r3.Vector {
+func toLinearAcceleration9250(data []byte) r3.Vector {
 	x := int(utils.Int16FromBytesBE(data[0:2]))
 	y := int(utils.Int16FromBytesBE(data[2:4]))
 	z := int(utils.Int16FromBytesBE(data[4:6]))
 
-	// // The scale is +/- 2G's, but our units should be m/sec/sec.
-	// maxAcceleration := 9.81 /* m/sec/sec */
+	// The scale is +/- X Gs based on the calculated accelScale, but our units should be m/sec/sec.
 	return r3.Vector{
-		X: setScale(x, accelScale) * 9.81,
-		Y: setScale(y, accelScale) * 9.81,
-		Z: setScale(z, accelScale) * 9.81,
-	}
-}
-
-func (mpu *mpu9250) AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error) {
-	mpu.mu.Lock()
-	defer mpu.mu.Unlock()
-	return mpu.angularVelocity, mpu.err.Get()
-}
-
-func (mpu *mpu9250) LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error) {
-	return r3.Vector{}, movementsensor.ErrMethodUnimplementedLinearVelocity
-}
-
-func (mpu *mpu9250) LinearAcceleration(ctx context.Context, exta map[string]interface{}) (r3.Vector, error) {
-	mpu.mu.Lock()
-	defer mpu.mu.Unlock()
-
-	lastError := mpu.err.Get()
-	if lastError != nil {
-		return r3.Vector{}, lastError
-	}
-	return mpu.linearAcceleration, nil
-}
-
-func (mpu *mpu9250) Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error) {
-	return spatialmath.NewOrientationVector(), movementsensor.ErrMethodUnimplementedOrientation
-}
-
-func (mpu *mpu9250) CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error) {
-	return 0, movementsensor.ErrMethodUnimplementedCompassHeading
-}
-
-func (mpu *mpu9250) Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error) {
-	return geo.NewPoint(0, 0), 0, movementsensor.ErrMethodUnimplementedPosition
-}
-
-func (mpu *mpu9250) Accuracy(ctx context.Context, extra map[string]interface{}) (*movementsensor.Accuracy, error) {
-	return movementsensor.UnimplementedOptionalAccuracies(), nil
-}
-
-func (mpu *mpu9250) Readings(ctx context.Context, extra map[string]interface{}) (map[string]interface{}, error) {
-	mpu.mu.Lock()
-	defer mpu.mu.Unlock()
-
-	readings := make(map[string]interface{})
-	readings["linear_acceleration"] = mpu.linearAcceleration
-	readings["temperature_celsius"] = mpu.temperature
-	readings["angular_velocity"] = mpu.angularVelocity
-
-	return readings, mpu.err.Get()
-}
-
-func (mpu *mpu9250) Properties(ctx context.Context, extra map[string]interface{}) (*movementsensor.Properties, error) {
-	return &movementsensor.Properties{
-		AngularVelocitySupported:    true,
-		LinearAccelerationSupported: true,
-	}, nil
-}
-
-func (mpu *mpu9250) Close(ctx context.Context) error {
-	mpu.workers.Stop()
-
-	mpu.mu.Lock()
-	defer mpu.mu.Unlock()
-	// Set the Sleep bit (bit 6) in the power control register (register 107).
-	err := mpu.writeByte(ctx, 107, 1<<6)
-	if err != nil {
-		mpu.logger.CError(ctx, err)
+		X: setScale9250(x, accelScale) * 9.81,
+		Y: setScale9250(y, accelScale) * 9.81,
+		Z: setScale9250(z, accelScale) * 9.81,
 	}
-	return err
 }
diff --git a/mpu/mpu_nonlinux.go b/mpu/mpu_nonlinux.go
new file mode 100644
index 0000000..c4a4750
--- /dev/null
+++ b/mpu/mpu_nonlinux.go
@@ -0,0 +1,2 @@
+// Package mpu is only implemented for Linux systems.
+package mpu
diff --git a/mpu6050/mpu6050_nonlinux.go b/mpu6050/mpu6050_nonlinux.go
deleted file mode 100644
index 9087d5a..0000000
--- a/mpu6050/mpu6050_nonlinux.go
+++ /dev/null
@@ -1,2 +0,0 @@
-// Package mpu6050 is only implemented for Linux systems.
-package mpu6050