diff --git a/CMakeLists.txt b/CMakeLists.txt
index 568fbacdd2aec77566fd557771ae64d7e70df236..9f728f7790aed5d2023be436c06bd86f82cd5f14 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -376,6 +376,10 @@ sbs_target(test-ubxgps-spi stm32f429zi_skyward_death_stack_x)
add_executable(test-vn100 src/tests/sensors/test-vn100.cpp)
sbs_target(test-vn100 stm32f407vg_stm32f4discovery)
+add_executable(test-lis2mdl src/tests/sensors/test-lis2mdl.cpp)
+sbs_target(test-lis2mdl stm32f407vg_stm32f4discovery)
+
+
#-----------------------------------------------------------------------------#
# Tests - Utils #
#-----------------------------------------------------------------------------#
diff --git a/cmake/boardcore.cmake b/cmake/boardcore.cmake
index caea138a30977227222c31c1f0beae22b3f415f4..9aeb3c2e55c60eecdff7637ad8640054eea9b961 100644
--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -98,6 +98,7 @@ foreach(OPT_BOARD ${BOARDS})
${SBS_BASE}/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
${SBS_BASE}/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp
${SBS_BASE}/src/shared/sensors/VN100/VN100.cpp
+ ${SBS_BASE}/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
# Calibration
${SBS_BASE}/src/shared/sensors/calibration/BiasCalibration/BiasCalibration.cpp
diff --git a/src/shared/sensors/LIS2MDL/LIS2MDL.cpp b/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..65937053d3663ba2e2f9b7c833f77d4bd60b70b6
--- /dev/null
+++ b/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
@@ -0,0 +1,76 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Giulia Ghirardini
+ *
+ * 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.
+ */
+
+#include "LIS2MDL.h"
+
+#include <drivers/timer/TimestampTimer.h>
+
+namespace Boardcore
+{
+
+LIS2MDL::LIS2MDL(SPIBusInterface& bus, miosix::GpioPin pin,
+ SPIBusConfig spiConfig, Config config)
+ : mSlave(bus, pin, spiConfig), mConfig(config), currDiv(0),
+ isInitialized(false)
+{
+}
+
+bool LIS2MDL::applyConfig(Config config) { return true; }
+
+bool LIS2MDL::init()
+{
+ if (isInitialized)
+ {
+ LOG_ERR(logger, "Attempted to initialized sensor twice but failed");
+ lastError = ALREADY_INIT;
+ return false;
+ }
+
+ {
+ SPITransaction spi(mSlave);
+ spi.writeRegister(CFG_REG_C, 4);
+ }
+
+ {
+ SPITransaction spi(mSlave);
+ uint8_t res = spi.readRegister(WHO_AM_I);
+
+ if (res != WHO_AM_I_VALUE)
+ {
+ LOG_ERR(logger,
+ "WHO_AM_I value differs from expectation: read 0x{:x} "
+ "but expected 0x{:x}",
+ res, WHO_AM_I_VALUE);
+ lastError = INVALID_WHOAMI;
+ return false;
+ }
+ }
+
+ isInitialized = true;
+ return applyConfig(mConfig);
+}
+
+bool LIS2MDL::selfTest() { return true; }
+
+LIS2MDLData LIS2MDL::sampleImpl() { return LIS2MDLData{}; }
+
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/sensors/LIS2MDL/LIS2MDLData.h b/src/shared/sensors/LIS2MDL/LIS2MDLData.h
new file mode 100644
index 0000000000000000000000000000000000000000..2a2e4ff0f90b5471bb654590c4fc7d750b1df93b
--- /dev/null
+++ b/src/shared/sensors/LIS2MDL/LIS2MDLData.h
@@ -0,0 +1,64 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Giulia Ghirardini
+ *
+ * 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 <sensors/SensorData.h>
+
+namespace Boardcore
+{
+
+struct LIS2MDLData : public MagnetometerData, public TemperatureData
+{
+ LIS2MDLData() : MagnetometerData{0, 0.0, 0.0, 0.0}, TemperatureData{0, 0.0}
+ {
+ }
+
+ LIS2MDLData(uint64_t t, float mx, float my, float mz, float deg)
+ : MagnetometerData{t, mx, my, mz}, TemperatureData{t, deg}
+
+ {
+ }
+
+ LIS2MDLData(MagnetometerData magData, TemperatureData tempData)
+ : MagnetometerData(magData), TemperatureData(tempData)
+
+ {
+ }
+
+ static std::string header()
+ {
+ return "magneticFieldTimestamp,magneticFieldX,magneticFieldY,"
+ "magneticFieldZ,"
+ "temperatureTimestamp,"
+ "temp\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << magneticFieldTimestamp << "," << magneticFieldX << ","
+ << magneticFieldY << "," << magneticFieldZ << ","
+ << temperatureTimestamp << "," << temperature << "\n";
+ }
+};
+
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/tests/sensors/test-lis2mdl.cpp b/src/tests/sensors/test-lis2mdl.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6722967ecea593d70156ed926f572d746d06361a
--- /dev/null
+++ b/src/tests/sensors/test-lis2mdl.cpp
@@ -0,0 +1,67 @@
+/* Copyright (c) 2020 Skyward Experimental Rocketry
+ * Author: Riccardo Musso
+ *
+ * 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.
+ */
+
+#include <drivers/spi/SPIDriver.h>
+#include <miosix.h>
+#include <sensors/LIS2MDL/LIS2MDL.h>
+#include <utils/Debug.h>
+
+using namespace Boardcore;
+using namespace miosix;
+
+int main()
+{
+ GpioPin cs(GPIOA_BASE, 3), miso(GPIOA_BASE, 6), mosi(GPIOA_BASE, 7),
+ clk(GPIOA_BASE, 5);
+
+ cs.mode(Mode::OUTPUT);
+ cs.high();
+
+ clk.mode(Mode::ALTERNATE);
+ clk.alternateFunction(5);
+
+ miso.mode(Mode::ALTERNATE);
+ miso.alternateFunction(5);
+
+ mosi.mode(Mode::ALTERNATE);
+ mosi.alternateFunction(5);
+
+ SPIBus bus(SPI1);
+
+ SPIBusConfig busConfig;
+ busConfig.clockDivider = SPI::ClockDivider::DIV_256;
+ busConfig.mode = SPI::Mode::MODE_0;
+
+ LIS2MDL::Config config;
+ config.odr = LIS2MDL::ODR_10_HZ;
+ // config.scale = LIS2MDL::FS_16_GAUSS;
+ config.temperatureDivider = 5;
+
+ LIS2MDL sensor(bus, cs, busConfig, config);
+
+ if (!sensor.init())
+ {
+ TRACE("LIS2MDL: Init failed");
+ return 1;
+ }
+ TRACE("LIS2MDL: Init done");
+}