diff --git a/Core/Inc/LSM9DS1.h b/Core/Inc/LSM9DS1.h
new file mode 100644
index 0000000..611659d
--- /dev/null
+++ b/Core/Inc/LSM9DS1.h
@@ -0,0 +1,8 @@
+#ifndef __LSM9DS1
+#define __LSM9DS1
+
+void LSM9DS1_test_accel(void);
+void LSM9DS1_cleanup_accel(void);
+void LSM9DS1_test_magnet(void);
+
+#endif
diff --git a/Core/Src/LSM9DS1.c b/Core/Src/LSM9DS1.c
new file mode 100644
index 0000000..edff896
--- /dev/null
+++ b/Core/Src/LSM9DS1.c
@@ -0,0 +1,129 @@
+#include "main.h"
+#include "LSM9DS1.h"
+#include "lcd.h"
+
+#define FAILSAFE_PRE_OP for (size_t t = 0; t < 5; t++) {
+#define FAILSAFE_POST_OP_ACCEL(prefix) if (op_result) print_error_accel(op_result, err_count, t, prefix); else break; }
+#define FAILSAFE_POST_OP_MAGNET(prefix) if (op_result) print_error_magnet(op_result, err_count, t, prefix); else break; }
+
+extern I2C_HandleTypeDef hi2c1;
+
+static void print_error_message(HAL_StatusTypeDef result, size_t *err_count, size_t t, char *prefix)
+{
+	DISPLAY_SET_CURSOR(1, 0);
+	display_write_data_seq(prefix);
+	display_write_data_byte(' ');
+
+	(*err_count)++;
+
+	display_write_data_byte('1' + t);
+	display_write_data_seq("/5 ");
+
+	switch (result) {
+	case HAL_ERROR:
+		display_write_data_seq("ERROR");
+		break;
+	case HAL_BUSY:
+		display_write_data_seq("BUSY");
+		break;
+	case HAL_TIMEOUT:
+		display_write_data_seq("TIMEOUT");
+		break;
+	}
+
+	HAL_Delay(1000);
+}
+
+static void print_error_accel(HAL_StatusTypeDef result, size_t *err_count, size_t t, char *prefix)
+{
+	DISPLAY_CLEAR;
+	display_write_data_seq("LSM9DS1 Accel");
+
+	print_error_message(result, err_count, t, prefix);
+}
+
+static void print_error_magnet(HAL_StatusTypeDef result, size_t *err_count, size_t t, char *prefix)
+{
+	DISPLAY_CLEAR;
+	display_write_data_seq("LSM9DS1 Magnet");
+
+	print_error_message(result, err_count, t, prefix);
+}
+
+void LSM9DS1_test_accel(void)
+{
+	DISPLAY_CLEAR;
+	display_write_data_seq("LSM9DS1 Accel");
+
+	HAL_StatusTypeDef op_result;
+	uint8_t buffer[6];
+	size_t err_count = 0;
+
+	// enable sampling at 10 Hz
+	buffer[0] = 0x20;
+	buffer[1] = 0x20;
+	FAILSAFE_PRE_OP;
+	op_result = HAL_I2C_Master_Transmit(&hi2c1, 0xD6, buffer, 2, 1000);
+	FAILSAFE_POST_OP_ACCEL("E");
+
+	HAL_Delay(100);
+
+	// set future read address
+	buffer[0] = 0x28;
+	FAILSAFE_PRE_OP;
+	op_result = HAL_I2C_Master_Transmit(&hi2c1, 0xD6, buffer, 1, 1000);
+	FAILSAFE_POST_OP_ACCEL("A");
+
+	// read from registers sequentially
+	FAILSAFE_PRE_OP;
+	op_result = HAL_I2C_Master_Receive(&hi2c1, 0xD7, buffer, 6, 1000);
+	FAILSAFE_POST_OP_ACCEL("R");
+
+	if (!err_count) {
+		DISPLAY_SET_CURSOR(1, 1);
+		display_write_data_seq("OK");
+	} else {
+		DISPLAY_SET_CURSOR(1, 0);
+		display_write_data_byte('0' + ((err_count / 10) % 10));
+		display_write_data_byte('0' + (err_count % 10));
+		display_write_data_seq(" errors");
+	}
+}
+
+void LSM9DS1_cleanup_accel(void)
+{
+	// power down the accelerometer
+	uint8_t buffer[2] = {0x20, 0x00};
+	HAL_I2C_Master_Transmit(&hi2c1, 0xD6, buffer, 2, 1000);
+}
+
+void LSM9DS1_test_magnet(void)
+{
+	DISPLAY_CLEAR;
+	display_write_data_seq("LSM9DS1 Magnet");
+
+	HAL_StatusTypeDef op_result;
+	uint8_t buffer[6];
+	size_t err_count = 0;
+
+	// set future read address
+	buffer[0] = 0x28;
+	FAILSAFE_PRE_OP;
+	op_result = HAL_I2C_Master_Transmit(&hi2c1, 0x3C, buffer, 1, 1000);
+	FAILSAFE_POST_OP_ACCEL("A");
+
+	// read from registers sequentially
+	FAILSAFE_PRE_OP;
+	op_result = HAL_I2C_Master_Receive(&hi2c1, 0x3D, buffer, 6, 1000);
+	FAILSAFE_POST_OP_ACCEL("R");
+
+	if (!err_count) {
+		DISPLAY_SET_CURSOR(1, 1);
+		display_write_data_seq("OK");
+	} else {
+		DISPLAY_SET_CURSOR(1, 0);
+		display_write_data_byte('0' + ((err_count / 10) % 10));
+		display_write_data_byte('0' + (err_count % 10));
+		display_write_data_seq(" errors");
+	}
+}
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 3d17360..93bdbfa 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -32,6 +32,7 @@
 #include "LIS302DL.h"
 #include "DHT11.h"
 #include "MP45DT02.h"
+#include "LSM9DS1.h"
 
 /* USER CODE END Includes */
 
@@ -75,7 +76,9 @@ void ((*executors[])(void)) = {
 		SST25VF016B_run_test,
 		LIS302DL_run_test,
 		LIS302DL_run_test_dynamic,
-		MP45DT02_run_test
+		MP45DT02_run_test,
+		LSM9DS1_test_accel,
+		LSM9DS1_test_magnet
 };
 
 void ((*cleanup_functions[])(void)) = {
@@ -87,6 +90,8 @@ void ((*cleanup_functions[])(void)) = {
 		NULL,
 		NULL,
 		NULL,
+		NULL,
+		LSM9DS1_cleanup_accel,
 		NULL
 };
 
@@ -99,6 +104,8 @@ int delay_between_runs[] = {
 		-1,
 		-1,
 		200,
+		-1,
+		-1,
 		-1
 		};
 
@@ -126,7 +133,7 @@ static void MX_I2S2_Init(void);
 void switch_to_next_test(void)
 {
 	current_executor_id += 1;
-	current_executor_id %= 9;
+	current_executor_id %= 11;
 }
 
 void buttons_switch_to_interrupt(void)
diff --git a/Debug/Core/Src/subdir.mk b/Debug/Core/Src/subdir.mk
index b4c756c..85c5623 100644
--- a/Debug/Core/Src/subdir.mk
+++ b/Debug/Core/Src/subdir.mk
@@ -10,6 +10,7 @@ C_SRCS += \
 ../Core/Src/DHT11.c \
 ../Core/Src/DNI.c \
 ../Core/Src/LIS302DL.c \
+../Core/Src/LSM9DS1.c \
 ../Core/Src/MP45DT02.c \
 ../Core/Src/PCA9685.c \
 ../Core/Src/SST25VF016B.c \
@@ -27,6 +28,7 @@ OBJS += \
 ./Core/Src/DHT11.o \
 ./Core/Src/DNI.o \
 ./Core/Src/LIS302DL.o \
+./Core/Src/LSM9DS1.o \
 ./Core/Src/MP45DT02.o \
 ./Core/Src/PCA9685.o \
 ./Core/Src/SST25VF016B.o \
@@ -44,6 +46,7 @@ C_DEPS += \
 ./Core/Src/DHT11.d \
 ./Core/Src/DNI.d \
 ./Core/Src/LIS302DL.d \
+./Core/Src/LSM9DS1.d \
 ./Core/Src/MP45DT02.d \
 ./Core/Src/PCA9685.d \
 ./Core/Src/SST25VF016B.d \
@@ -63,7 +66,7 @@ Core/Src/%.o Core/Src/%.su Core/Src/%.cyclo: ../Core/Src/%.c Core/Src/subdir.mk
 clean: clean-Core-2f-Src
 
 clean-Core-2f-Src:
-	-$(RM) ./Core/Src/24AA02E48.cyclo ./Core/Src/24AA02E48.d ./Core/Src/24AA02E48.o ./Core/Src/24AA02E48.su ./Core/Src/CS43L22.cyclo ./Core/Src/CS43L22.d ./Core/Src/CS43L22.o ./Core/Src/CS43L22.su ./Core/Src/DHT11.cyclo ./Core/Src/DHT11.d ./Core/Src/DHT11.o ./Core/Src/DHT11.su ./Core/Src/DNI.cyclo ./Core/Src/DNI.d ./Core/Src/DNI.o ./Core/Src/DNI.su ./Core/Src/LIS302DL.cyclo ./Core/Src/LIS302DL.d ./Core/Src/LIS302DL.o ./Core/Src/LIS302DL.su ./Core/Src/MP45DT02.cyclo ./Core/Src/MP45DT02.d ./Core/Src/MP45DT02.o ./Core/Src/MP45DT02.su ./Core/Src/PCA9685.cyclo ./Core/Src/PCA9685.d ./Core/Src/PCA9685.o ./Core/Src/PCA9685.su ./Core/Src/SST25VF016B.cyclo ./Core/Src/SST25VF016B.d ./Core/Src/SST25VF016B.o ./Core/Src/SST25VF016B.su ./Core/Src/lcd.cyclo ./Core/Src/lcd.d ./Core/Src/lcd.o ./Core/Src/lcd.su ./Core/Src/main.cyclo ./Core/Src/main.d ./Core/Src/main.o ./Core/Src/main.su ./Core/Src/stm32f4xx_hal_msp.cyclo ./Core/Src/stm32f4xx_hal_msp.d ./Core/Src/stm32f4xx_hal_msp.o ./Core/Src/stm32f4xx_hal_msp.su ./Core/Src/stm32f4xx_it.cyclo ./Core/Src/stm32f4xx_it.d ./Core/Src/stm32f4xx_it.o ./Core/Src/stm32f4xx_it.su ./Core/Src/syscalls.cyclo ./Core/Src/syscalls.d ./Core/Src/syscalls.o ./Core/Src/syscalls.su ./Core/Src/sysmem.cyclo ./Core/Src/sysmem.d ./Core/Src/sysmem.o ./Core/Src/sysmem.su ./Core/Src/system_stm32f4xx.cyclo ./Core/Src/system_stm32f4xx.d ./Core/Src/system_stm32f4xx.o ./Core/Src/system_stm32f4xx.su
+	-$(RM) ./Core/Src/24AA02E48.cyclo ./Core/Src/24AA02E48.d ./Core/Src/24AA02E48.o ./Core/Src/24AA02E48.su ./Core/Src/CS43L22.cyclo ./Core/Src/CS43L22.d ./Core/Src/CS43L22.o ./Core/Src/CS43L22.su ./Core/Src/DHT11.cyclo ./Core/Src/DHT11.d ./Core/Src/DHT11.o ./Core/Src/DHT11.su ./Core/Src/DNI.cyclo ./Core/Src/DNI.d ./Core/Src/DNI.o ./Core/Src/DNI.su ./Core/Src/LIS302DL.cyclo ./Core/Src/LIS302DL.d ./Core/Src/LIS302DL.o ./Core/Src/LIS302DL.su ./Core/Src/LSM9DS1.cyclo ./Core/Src/LSM9DS1.d ./Core/Src/LSM9DS1.o ./Core/Src/LSM9DS1.su ./Core/Src/MP45DT02.cyclo ./Core/Src/MP45DT02.d ./Core/Src/MP45DT02.o ./Core/Src/MP45DT02.su ./Core/Src/PCA9685.cyclo ./Core/Src/PCA9685.d ./Core/Src/PCA9685.o ./Core/Src/PCA9685.su ./Core/Src/SST25VF016B.cyclo ./Core/Src/SST25VF016B.d ./Core/Src/SST25VF016B.o ./Core/Src/SST25VF016B.su ./Core/Src/lcd.cyclo ./Core/Src/lcd.d ./Core/Src/lcd.o ./Core/Src/lcd.su ./Core/Src/main.cyclo ./Core/Src/main.d ./Core/Src/main.o ./Core/Src/main.su ./Core/Src/stm32f4xx_hal_msp.cyclo ./Core/Src/stm32f4xx_hal_msp.d ./Core/Src/stm32f4xx_hal_msp.o ./Core/Src/stm32f4xx_hal_msp.su ./Core/Src/stm32f4xx_it.cyclo ./Core/Src/stm32f4xx_it.d ./Core/Src/stm32f4xx_it.o ./Core/Src/stm32f4xx_it.su ./Core/Src/syscalls.cyclo ./Core/Src/syscalls.d ./Core/Src/syscalls.o ./Core/Src/syscalls.su ./Core/Src/sysmem.cyclo ./Core/Src/sysmem.d ./Core/Src/sysmem.o ./Core/Src/sysmem.su ./Core/Src/system_stm32f4xx.cyclo ./Core/Src/system_stm32f4xx.d ./Core/Src/system_stm32f4xx.o ./Core/Src/system_stm32f4xx.su
 
 .PHONY: clean-Core-2f-Src
 
diff --git a/Debug/objects.list b/Debug/objects.list
index dc44988..b546871 100644
--- a/Debug/objects.list
+++ b/Debug/objects.list
@@ -3,6 +3,7 @@
 "./Core/Src/DHT11.o"
 "./Core/Src/DNI.o"
 "./Core/Src/LIS302DL.o"
+"./Core/Src/LSM9DS1.o"
 "./Core/Src/MP45DT02.o"
 "./Core/Src/PCA9685.o"
 "./Core/Src/SST25VF016B.o"