Faster I2C on the Arduino
The Arduino I2C library is configured, by default, to 100 kHz frequency I2C. We can increase this to the more modern 400 kHz by changing TWI_FREQ in the Arduino I2C library from 100000L to 400000L.
It used to take around 1500 microseconds each for my Seeeduino Mega to read six bytes off the accelerometer and gyro. I cut that down to around 1000 microseconds each with this change. (But that’s still too long for my liking!)