diff --git a/src/drivers/mpu6000/mpu6000_spi.cpp b/src/drivers/mpu6000/mpu6000_spi.cpp
index f6800678b8..ad7e39e795 100644
--- a/src/drivers/mpu6000/mpu6000_spi.cpp
+++ b/src/drivers/mpu6000/mpu6000_spi.cpp
@@ -71,14 +71,27 @@
 #    define EXTERNAL_BUS 0
 #  endif
 
-/*
-  The MPU6000 can only handle high SPI bus speeds on the sensor and
-  interrupt status registers. All other registers have a maximum 1MHz
-  SPI speed
-
- */
-#define MPU6000_LOW_SPI_BUS_SPEED	1000*1000
-#define MPU6000_HIGH_SPI_BUS_SPEED	11*1000*1000 /* will be rounded to 10.4 MHz, within margins for MPU6K */
+/* The MPU6000 can only handle high SPI bus speeds of 20Mhz on the sensor and
+* interrupt status registers. All other registers have a maximum 1MHz
+* SPI speed
+*
+* The ICM parts are not rated as high.
+*
+* The Actual Value will be rounded down by the spi driver.
+*          168 Mhz CPU         180 Mhz CPU
+* Selected ------------actual---------------
+* 20 Mhz   10.5     Mhz         11.250   Mhz
+* 10 Mhz   5.250    Mhz         5.625    Mhz
+* 8  Mhz   5.250    Mhz         5.625    Mhz
+* 1  Mhz   0.703125 Mhz         0.65625  Mhz
+*
+*/
+#define MPU6000_LOW_SPI_BUS_SPEED    1000*1000
+#define MPU6000_HIGH_SPI_BUS_SPEED   20*1000*1000
+#define ICM20608_HIGH_SPI_BUS_SPEED  8*1000*1000
+#define ICM20689_HIGH_SPI_BUS_SPEED  8*1000*1000
+#define ICM20602_HIGH_SPI_BUS_SPEED 10*1000*1000
+#define UNKNOWN_HIGH_SPI_BUS_SPEED   8*1000*1000 // Use the minimum
 
 
 device::Device *MPU6000_SPI_interface(int bus, int device_type, bool external_bus);
@@ -103,6 +116,7 @@ private:
 	int _device_type;
 	/* Helper to set the desired speed and isolate the register on return */
 
+	int _max_frequency;
 	void set_bus_frequency(unsigned &reg_speed_reg_out);
 };
 
@@ -251,9 +265,9 @@ MPU6000_SPI::set_bus_frequency(unsigned &reg_speed)
 {
 	/* Set the desired speed */
 
-	set_frequency(MPU6000_IS_HIGH_SPEED(reg_speed) ? MPU6000_HIGH_SPI_BUS_SPEED : MPU6000_LOW_SPI_BUS_SPEED);
+	set_frequency(MPU6000_IS_HIGH_SPEED(reg_speed) ? _max_frequency : MPU6000_LOW_SPI_BUS_SPEED);
 
-	/* Isoolate the register on return */
+	/* Isolate the register on return */
 
 	reg_speed = MPU6000_REG(reg_speed);
 }
@@ -328,23 +342,28 @@ MPU6000_SPI::probe()
 {
 	uint8_t whoami = 0;
 	uint8_t expected = MPU_WHOAMI_6000;
+	_max_frequency = UNKNOWN_HIGH_SPI_BUS_SPEED;
 
 	switch (_device_type) {
 
 	default:
 	case 6000:
+		_max_frequency = MPU6000_HIGH_SPI_BUS_SPEED;
 		break;
 
 	case 20602:
 		expected = ICM_WHOAMI_20602;
+		_max_frequency = ICM20602_HIGH_SPI_BUS_SPEED;
 		break;
 
 	case 20608:
 		expected = ICM_WHOAMI_20608;
+		_max_frequency = ICM20608_HIGH_SPI_BUS_SPEED;
 		break;
 
 	case 20689:
 		expected = ICM_WHOAMI_20689;
+		_max_frequency = ICM20689_HIGH_SPI_BUS_SPEED;
 		break;
 	}