Sample Rate = MPU6050 Gyroscope Output Rate / (1 + SMPLRT_DIV). Where Gyroscope Output Rate is 8KHz, Set it to 0x07 to get the sample rate of 1KHz
accelerometer
ADXL345 Accelerometer and STM32
The ADXL345 is a complete 3-axis acceleration measurement system with a selectable measurement range of ±2 g, ±4 g, ±8 g, or ±16 g.