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With a BPSK modulation the data rate is $D=\frac{1}{T_s}$ where $T_s$ is the symbol time. But for a BFSK modulation, how do we find the data rate?

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In general, the data rate in bits per second is the symbol rate times the number of bits per symbol; independent of the modulation used.

The B in both BPSK and BFSK stands for binary, so there is 1 bit per symbol, or 2 possible symbols (2 possible phases or frequencies depending on the case).

So the data rate in both cases is the same.

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