MPU-6050 Sample Time Duration

Hello all,

In my application I am currently interested in only sampling the gyroscopes (not the accelerometers). I just wanted to make sure I got my math correct.

I2C Clock Speed: 400 kHz --> 2.5 uS/bit
9 bits per transfer byte
4 I2C transfer bytes per data byte (according to datasheet)
6 data bytes to read (gyroscopes)


Total Read Time = (2.5 uS / bit) * (9 bits/ transfer byte) * (4 transfer bytes/ data byte) * (6 data bytes) = 540 uS

Is this correct? I suppose this is for the single byte read mode.

I have a followup question regarding burst mode. Does burst mode return two data bytes when requesting a read from a single gyroscope axis. For example, requesting a read from 0x44 would send both Gyro_Xout[15:8] and Gyro_Xout[7:0].

It just appears that my calculated read time is a bit long, so I believe I am making a mistake somewhere.

I would appreciate any feedback.

Thanks,

Mehdi