diff --git a/examples/lsm9ds1/main.go b/examples/lsm9ds1/main.go
new file mode 100644
index 0000000..8028ef1
--- /dev/null
+++ b/examples/lsm9ds1/main.go
@@ -0,0 +1,103 @@
+// LSM9DS1, 9 axis Inertial Measurement Unit (IMU)
+package main
+
+import (
+	"fmt"
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/lsm9ds1"
+)
+
+const (
+	PLOTTER             = false
+	SHOW_ACCELERATION   = true
+	SHOW_ROTATION       = true
+	SHOW_MAGNETIC_FIELD = true
+	SHOW_TEMPERATURE    = true
+)
+
+func main() {
+
+	// I2C configure
+	machine.I2C0.Configure(machine.I2CConfig{})
+
+	// LSM9DS1 setup
+	device := lsm9ds1.New(machine.I2C0)
+	err := device.Configure(lsm9ds1.Configuration{
+		AccelRange:      lsm9ds1.ACCEL_2G,
+		AccelSampleRate: lsm9ds1.ACCEL_SR_119,
+		GyroRange:       lsm9ds1.GYRO_250DPS,
+		GyroSampleRate:  lsm9ds1.GYRO_SR_119,
+		MagRange:        lsm9ds1.MAG_4G,
+		MagSampleRate:   lsm9ds1.MAG_SR_40,
+	})
+	if err != nil {
+		for {
+			println("Failed to configure", err.Error())
+			time.Sleep(time.Second)
+		}
+	}
+
+	for {
+
+		if con, err := device.Connected(); !con || err != nil {
+			println("LSM9DS1 not connected")
+			time.Sleep(time.Second)
+			continue
+		}
+
+		ax, ay, az, _ := device.ReadAcceleration()
+		gx, gy, gz, _ := device.ReadRotation()
+		mx, my, mz, _ := device.ReadMagneticField()
+		t, _ := device.ReadTemperature()
+
+		if PLOTTER {
+			printPlotter(ax, ay, az, gx, gy, gz, mx, my, mz, t)
+			time.Sleep(time.Millisecond * 100)
+		} else {
+			printMonitor(ax, ay, az, gx, gy, gz, mx, my, mz, t)
+			time.Sleep(time.Millisecond * 1000)
+		}
+
+	}
+
+}
+
+// Arduino IDE's Serial Plotter
+func printPlotter(ax, ay, az, gx, gy, gz, mx, my, mz, t int32) {
+	if SHOW_ACCELERATION {
+		fmt.Printf("AX:%f, AY:%f, AZ:%f,", axis(ax), axis(ay), axis(az))
+	}
+	if SHOW_ROTATION {
+		fmt.Printf("GX:%f, GY:%f, GZ:%f,", axis(gx), axis(gy), axis(gz))
+	}
+	if SHOW_MAGNETIC_FIELD {
+		fmt.Printf("MX:%d, MY:%d, MZ:%d,", mx, my, mz)
+	}
+	if SHOW_TEMPERATURE {
+		fmt.Printf("T:%f", float32(t)/1000)
+	}
+	println()
+}
+
+// Any Serial Monitor
+func printMonitor(ax, ay, az, gx, gy, gz, mx, my, mz, t int32) {
+	if SHOW_ACCELERATION {
+		fmt.Printf("Acceleration (g): %f, %f, %f\r\n", axis(ax), axis(ay), axis(az))
+	}
+	if SHOW_ROTATION {
+		fmt.Printf("Rotation (dps): %f, %f, %f\r\n", axis(gx), axis(gy), axis(gz))
+	}
+	if SHOW_MAGNETIC_FIELD {
+		fmt.Printf("Magnetic field (nT): %d, %d, %d\r\n", mx, my, mz)
+	}
+	if SHOW_TEMPERATURE {
+		fmt.Printf("Temperature C: %f\r\n", float32(t)/1000)
+	}
+	println()
+}
+
+func axis(raw int32) float32 {
+	return float32(raw) / 1000000
+}
diff --git a/lsm9ds1/lsm9ds1.go b/lsm9ds1/lsm9ds1.go
new file mode 100644
index 0000000..25f5ed5
--- /dev/null
+++ b/lsm9ds1/lsm9ds1.go
@@ -0,0 +1,227 @@
+// LSM9DS1, 9 axis Inertial Measurement Unit (IMU)
+//
+// Datasheet: https://www.st.com/resource/en/datasheet/lsm6ds3.pdf
+//
+package lsm9ds1 // import "tinygo.org/x/drivers/lsm9ds1"
+
+import (
+	"errors"
+
+	"tinygo.org/x/drivers"
+)
+
+type AccelRange uint8
+type AccelSampleRate uint8
+type AccelBandwidth uint8
+
+type GyroRange uint8
+type GyroSampleRate uint8
+
+type MagRange uint8
+type MagSampleRate uint8
+
+// Device wraps connection to a LSM9DS1 device.
+type Device struct {
+	bus             drivers.I2C
+	AccelAddress    uint8
+	MagAddress      uint8
+	accelMultiplier int32
+	gyroMultiplier  int32
+	magMultiplier   int32
+	dataBufferSix   []uint8
+	dataBufferTwo   []uint8
+}
+
+// Configuration for LSM9DS1 device.
+type Configuration struct {
+	AccelRange      AccelRange
+	AccelSampleRate AccelSampleRate
+	AccelBandWidth  AccelBandwidth
+	GyroRange       GyroRange
+	GyroSampleRate  GyroSampleRate
+	MagRange        MagRange
+	MagSampleRate   MagSampleRate
+}
+
+var errNotConnected = errors.New("lsm9ds1: failed to communicate with either acel/gyro or magnet sensor")
+
+// New creates a new LSM9DS1 connection. The I2C bus must already be configured.
+//
+// This function only creates the Device object, it does not touch the device.
+func New(bus drivers.I2C) *Device {
+	return &Device{
+		bus:           bus,
+		AccelAddress:  ACCEL_ADDRESS,
+		MagAddress:    MAG_ADDRESS,
+		dataBufferSix: make([]uint8, 6),
+		dataBufferTwo: make([]uint8, 2),
+	}
+}
+
+// Connected returns whether both sensor on LSM9DS1 has been found.
+// It does two "who am I" requests and checks the responses.
+// In a rare case of an I2C bus issue, it can also return an error.
+// Case of boolean false and error nil means I2C is up,
+// but "who am I" responses have unexpected values.
+func (d *Device) Connected() (connected bool, err error) {
+	data1, data2 := []byte{0}, []byte{0}
+	err = d.bus.ReadRegister(d.AccelAddress, WHO_AM_I, data1)
+	if err != nil {
+		return false, err
+	}
+	err = d.bus.ReadRegister(d.MagAddress, WHO_AM_I_M, data2)
+	if err != nil {
+		return false, err
+	}
+	return data1[0] == 0x68 && data2[0] == 0x3D, nil
+}
+
+// ReadAcceleration reads the current acceleration from the device and returns
+// it in µg (micro-gravity). When one of the axes is pointing straight to Earth
+// and the sensor is not moving the returned value will be around 1000000 or
+// -1000000.
+func (d *Device) ReadAcceleration() (x, y, z int32, err error) {
+	err = d.bus.ReadRegister(uint8(d.AccelAddress), OUT_X_L_XL, d.dataBufferSix)
+	if err != nil {
+		return
+	}
+	x = int32(int16((uint16(d.dataBufferSix[1])<<8)|uint16(d.dataBufferSix[0]))) * d.accelMultiplier
+	y = int32(int16((uint16(d.dataBufferSix[3])<<8)|uint16(d.dataBufferSix[2]))) * d.accelMultiplier
+	z = int32(int16((uint16(d.dataBufferSix[5])<<8)|uint16(d.dataBufferSix[4]))) * d.accelMultiplier
+	return
+}
+
+// ReadRotation reads the current rotation from the device and returns it in
+// µ°/s (micro-degrees/sec). This means that if you were to do a complete
+// rotation along one axis and while doing so integrate all values over time,
+// you would get a value close to 360000000.
+func (d *Device) ReadRotation() (x, y, z int32, err error) {
+	err = d.bus.ReadRegister(uint8(d.AccelAddress), OUT_X_L_G, d.dataBufferSix)
+	if err != nil {
+		return
+	}
+	x = int32(int16((uint16(d.dataBufferSix[1])<<8)|uint16(d.dataBufferSix[0]))) * d.gyroMultiplier
+	y = int32(int16((uint16(d.dataBufferSix[3])<<8)|uint16(d.dataBufferSix[2]))) * d.gyroMultiplier
+	z = int32(int16((uint16(d.dataBufferSix[5])<<8)|uint16(d.dataBufferSix[4]))) * d.gyroMultiplier
+	return
+}
+
+// ReadMagneticField reads the current magnetic field from the device and returns
+// it in nT (nanotesla). 1 G (gauss) = 100_000 nT (nanotesla).
+func (d *Device) ReadMagneticField() (x, y, z int32, err error) {
+	err = d.bus.ReadRegister(uint8(d.MagAddress), OUT_X_L_M, d.dataBufferSix)
+	if err != nil {
+		return
+	}
+	x = int32(int16((int16(d.dataBufferSix[1])<<8)|int16(d.dataBufferSix[0]))) * d.magMultiplier
+	y = int32(int16((int16(d.dataBufferSix[3])<<8)|int16(d.dataBufferSix[2]))) * d.magMultiplier
+	z = int32(int16((int16(d.dataBufferSix[5])<<8)|int16(d.dataBufferSix[4]))) * d.magMultiplier
+	return
+}
+
+// ReadTemperature returns the temperature in Celsius milli degrees (°C/1000)
+func (d *Device) ReadTemperature() (t int32, err error) {
+	err = d.bus.ReadRegister(uint8(d.AccelAddress), OUT_TEMP_L, d.dataBufferTwo)
+	if err != nil {
+		return
+	}
+	// From "Table 5. Temperature sensor characteristics"
+	// temp = value/16 + 25
+	t = 25000 + (int32(int16((int16(d.dataBufferTwo[1])<<8)|int16(d.dataBufferTwo[0])))*125)/2
+	return
+}
+
+// --- end of public methods --------------------------------------------------
+
+// doConfigure is called by public Configure methods after all
+// necessary board-specific initialisations are taken care of
+func (d *Device) doConfigure(cfg Configuration) (err error) {
+
+	// Verify unit communication
+	if con, err := d.Connected(); !con || err != nil {
+		return errNotConnected
+	}
+
+	// Multipliers come from "Table 3. Sensor characteristics" of the datasheet * 1000
+	switch cfg.AccelRange {
+	case ACCEL_2G:
+		d.accelMultiplier = 61
+	case ACCEL_4G:
+		d.accelMultiplier = 122
+	case ACCEL_8G:
+		d.accelMultiplier = 244
+	case ACCEL_16G:
+		d.accelMultiplier = 732
+	}
+	switch cfg.GyroRange {
+	case GYRO_250DPS:
+		d.gyroMultiplier = 8750
+	case GYRO_500DPS:
+		d.gyroMultiplier = 17500
+	case GYRO_2000DPS:
+		d.gyroMultiplier = 70000
+	}
+	switch cfg.MagRange {
+	case MAG_4G:
+		d.magMultiplier = 14
+	case MAG_8G:
+		d.magMultiplier = 29
+	case MAG_12G:
+		d.magMultiplier = 43
+	case MAG_16G:
+		d.magMultiplier = 58
+	}
+
+	data := make([]byte, 1)
+
+	// Configure accelerometer
+	// Sample rate & measurement range
+	data[0] = uint8(cfg.AccelSampleRate)<<5 | uint8(cfg.AccelRange)<<3
+	err = d.bus.WriteRegister(d.AccelAddress, CTRL_REG6_XL, data)
+	if err != nil {
+		return
+	}
+
+	// Configure gyroscope
+	// Sample rate & measurement range
+	data[0] = uint8(cfg.GyroSampleRate)<<5 | uint8(cfg.GyroRange)<<3
+	err = d.bus.WriteRegister(d.AccelAddress, CTRL_REG1_G, data)
+	if err != nil {
+		return
+	}
+
+	// Configure magnetometer
+
+	// Temperature compensation enabled
+	// High-performance mode XY axis
+	// Sample rate
+	data[0] = 0b10000000 | 0b01000000 | uint8(cfg.MagSampleRate)<<2
+	err = d.bus.WriteRegister(d.MagAddress, CTRL_REG1_M, data)
+	if err != nil {
+		return
+	}
+
+	// Measurement range
+	data[0] = uint8(cfg.MagRange) << 5
+	err = d.bus.WriteRegister(d.MagAddress, CTRL_REG2_M, data)
+	if err != nil {
+		return
+	}
+
+	// Continuous-conversion mode
+	// https://electronics.stackexchange.com/questions/237397/continuous-conversion-vs-single-conversion-mode
+	data[0] = 0b00000000
+	err = d.bus.WriteRegister(d.MagAddress, CTRL_REG3_M, data)
+	if err != nil {
+		return
+	}
+
+	// High-performance mode Z axis
+	data[0] = 0b00001000
+	err = d.bus.WriteRegister(d.MagAddress, CTRL_REG4_M, data)
+	if err != nil {
+		return
+	}
+
+	return nil
+}
diff --git a/lsm9ds1/lsm9ds1_generic.go b/lsm9ds1/lsm9ds1_generic.go
new file mode 100644
index 0000000..cc276f3
--- /dev/null
+++ b/lsm9ds1/lsm9ds1_generic.go
@@ -0,0 +1,9 @@
+//go:build !nano_33_ble
+// +build !nano_33_ble
+
+package lsm9ds1
+
+// Configure sets up the device for communication.
+func (d *Device) Configure(cfg Configuration) error {
+	return d.doConfigure(cfg)
+}
diff --git a/lsm9ds1/lsm9ds1_nano_33_ble.go b/lsm9ds1/lsm9ds1_nano_33_ble.go
new file mode 100644
index 0000000..3c57f10
--- /dev/null
+++ b/lsm9ds1/lsm9ds1_nano_33_ble.go
@@ -0,0 +1,25 @@
+//go:build nano_33_ble
+// +build nano_33_ble
+
+// Nano 33 BLE [Sense] has LSM9DS1 unit on-board.
+// This custom Configure function powers unit up
+// and enables I2C, so unit can can be accessed.
+package lsm9ds1
+
+import (
+	"machine"
+	"time"
+)
+
+// Configure sets up the device for communication.
+func (d *Device) Configure(cfg Configuration) error {
+	// Following lines are Nano 33 BLE specific, they have nothing to do with sensor per se
+	machine.LSM_PWR.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	machine.LSM_PWR.High()
+	machine.I2C_PULLUP.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	machine.I2C_PULLUP.High()
+	// Wait a moment
+	time.Sleep(10 * time.Millisecond)
+	// Common initialisation code
+	return d.doConfigure(cfg)
+}
diff --git a/lsm9ds1/registers.go b/lsm9ds1/registers.go
new file mode 100644
index 0000000..6d9861b
--- /dev/null
+++ b/lsm9ds1/registers.go
@@ -0,0 +1,102 @@
+package lsm9ds1
+
+// Constants/addresses used for I2C.
+
+const (
+
+	// Constants/addresses used for I2C.
+	ACCEL_ADDRESS = 0x6B
+	MAG_ADDRESS   = 0x1E
+
+	// Table 21. Accelerometer and gyroscope register address map
+	WHO_AM_I     = 0x0F // value 0x68
+	CTRL_REG1_G  = 0x10
+	OUT_X_L_G    = 0x18
+	OUT_X_H_G    = 0x19
+	OUT_Y_L_G    = 0x1A
+	OUT_Y_H_G    = 0x1B
+	OUT_Z_L_G    = 0x1C
+	OUT_Z_H_G    = 0x1D
+	OUT_TEMP_L   = 0x15
+	OUT_TEMP_H   = 0x16
+	CTRL_REG6_XL = 0x20
+	STATUS_REG   = 0x27
+	OUT_X_L_XL   = 0x28
+	OUT_X_H_XL   = 0x29
+	OUT_Y_L_XL   = 0x2A
+	OUT_Y_H_XL   = 0x2B
+	OUT_Z_L_XL   = 0x2C
+	OUT_Z_H_XL   = 0x2D
+
+	// Table 22. Magnetic sensor register address map
+	OFFSET_X_REG_L_M = 0x05
+	OFFSET_X_REG_H_M = 0x06
+	OFFSET_Y_REG_L_M = 0x07
+	OFFSET_Y_REG_H_M = 0x08
+	OFFSET_Z_REG_L_M = 0x09
+	OFFSET_Z_REG_H_M = 0x0A
+	WHO_AM_I_M       = 0x0F // value 0x3D
+	CTRL_REG1_M      = 0x20 // TEMP_COMP OM1 OM0 DO2 DO1 DO0 FAST_ODR ST
+	CTRL_REG2_M      = 0x21 // 0 FS1 FS0 0 REBOOT SOFT_RST 0 0
+	CTRL_REG3_M      = 0x22 // 0 LP 0 0 SIM MD1 MD0
+	CTRL_REG4_M      = 0x23 // 0 0 0 0 OMZ1 OMZ0 BLE 0
+	STATUS_REG_M     = 0x27
+	OUT_X_L_M        = 0x28
+	OUT_X_H_M        = 0x29
+	OUT_Y_L_M        = 0x2A
+	OUT_Y_H_M        = 0x2B
+	OUT_Z_L_M        = 0x2C
+	OUT_Z_H_M        = 0x2D
+
+	// Table 67. CTRL_REG6_XL register description
+	ACCEL_2G  AccelRange = 0b00
+	ACCEL_4G  AccelRange = 0b10
+	ACCEL_8G  AccelRange = 0b11
+	ACCEL_16G AccelRange = 0b01
+
+	// Table 68. ODR register setting (accelerometer only mode)
+	ACCEL_SR_OFF AccelSampleRate = 0b000
+	ACCEL_SR_10  AccelSampleRate = 0b001
+	ACCEL_SR_50  AccelSampleRate = 0b010
+	ACCEL_SR_119 AccelSampleRate = 0b011
+	ACCEL_SR_238 AccelSampleRate = 0b100
+	ACCEL_SR_476 AccelSampleRate = 0b101
+	ACCEL_SR_952 AccelSampleRate = 0b110
+
+	// Table 67. CTRL_REG6_XL register description
+	ACCEL_BW_50  AccelBandwidth = 0b11
+	ACCEL_BW_105 AccelBandwidth = 0b10
+	ACCEL_BW_211 AccelBandwidth = 0b01
+	ACCEL_BW_408 AccelBandwidth = 0b00
+
+	// Table 45. CTRL_REG1_G register description
+	GYRO_250DPS  GyroRange = 0b00
+	GYRO_500DPS  GyroRange = 0b01
+	GYRO_2000DPS GyroRange = 0b11
+
+	// Table 9. Gyroscope operating modes
+	// Table 46. ODR and BW configuration setting (after LPF1)
+	GYRO_SR_OFF GyroSampleRate = 0b000
+	GYRO_SR_15  GyroSampleRate = 0b001
+	GYRO_SR_60  GyroSampleRate = 0b010
+	GYRO_SR_119 GyroSampleRate = 0b011
+	GYRO_SR_238 GyroSampleRate = 0b100
+	GYRO_SR_476 GyroSampleRate = 0b101
+	GYRO_SR_952 GyroSampleRate = 0b110
+
+	// Table 114. Full-scale selection
+	MAG_4G  MagRange = 0b00
+	MAG_8G  MagRange = 0b01
+	MAG_12G MagRange = 0b10
+	MAG_16G MagRange = 0b11
+
+	// Table 111. Output data rate configuration
+	MAG_SR_06 MagSampleRate = 0b000
+	MAG_SR_1  MagSampleRate = 0b001
+	MAG_SR_2  MagSampleRate = 0b010
+	MAG_SR_5  MagSampleRate = 0b011
+	MAG_SR_10 MagSampleRate = 0b100
+	MAG_SR_20 MagSampleRate = 0b101
+	MAG_SR_40 MagSampleRate = 0b110
+	MAG_SR_80 MagSampleRate = 0b111
+)