diff --git a/docs/Measuring_Resonances.md b/docs/Measuring_Resonances.md
index 53a60013..7f41bd4d 100644
--- a/docs/Measuring_Resonances.md
+++ b/docs/Measuring_Resonances.md
@@ -115,7 +115,9 @@ probe_points:
 It is advised to start with 1 probe point, in the middle of the print bed,
 slightly above it.
 
-For the MPU-9250:
+For the MPU-9250, make sure the Linux I2C driver is enabled and the baud rate is
+set to 400000 (see [Enabling I2C](RPi_microcontroller.md#optional-enabling-i2c)
+section for more details). Then, add the following to the printer.cfg:
 ```
 [mcu rpi]
 serial: /tmp/klipper_host_mcu
diff --git a/docs/RPi_microcontroller.md b/docs/RPi_microcontroller.md
index 7551d4f1..2e64650c 100644
--- a/docs/RPi_microcontroller.md
+++ b/docs/RPi_microcontroller.md
@@ -69,6 +69,15 @@ Make sure the Linux SPI driver is enabled by running
 `sudo raspi-config` and enabling SPI under the "Interfacing options"
 menu.
 
+## Optional: Enabling I2C
+
+Make sure the Linux I2C driver is enabled by running `sudo raspi-config`
+and enabling I2C under the "Interfacing options" menu.
+If planning to use I2C for the MPU accelerometer, it is also required
+to set the baud rate to 400000 by: adding/uncommenting
+`dtparam=i2c_arm=on,i2c_arm_baudrate=400000` in `/boot/config.txt`
+(or `/boot/firmware/config.txt` in some distros).
+
 ## Optional: Identify the correct gpiochip
 
 On Raspberry Pi and on many clones the pins exposed on the GPIO belong