Hi, In average, I can get arround 3-4 sample per seconds if at each iteration I try to read the 9 axis value (xyz magnetometer, xyz accelerometer, xyz gyroscope). The number of sample/seconds is not constant, sometimes I can get 6 samples per seconds and sometimes 1 samples. This is mainly due to the buffer overrun issue and the number of retries I need to do to get a correct answer. In all those cases, I am not getting near the 10ms sampling rate. Let me know if you need more details. Regards Pat
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