Datasheet

5.1.2 SPI bus interface
The LSM6DSO SPI is a bus slave. The SPI allows writing and reading the registers of the device.
The serial interface communicates to the application using 4 wires: CS, SPC, SDI and SDO.
Figure 7. Read and write protocol (in mode 3)
CS
SPC
SDI
SDO
RW
AD5 AD4 AD3 AD2 AD1 AD0
DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0
DO7 DO6 DO5 DO4 DO3 DO2 DO1 DO0
AD6
CS is the serial port enable and it is controlled by the SPI master. It goes low at the start of the transmission and
goes back high at the end. SPC is the serial port clock and it is controlled by the SPI master. It is stopped high
when CS is high (no transmission). SDI and SDO are, respectively, the serial port data input and output. Those
lines are driven at the falling edge of SPC and should be captured at the rising edge of SPC.
Both the read register and write register commands are completed in 16 clock pulses or in multiples of 8 in case
of multiple read/write bytes. Bit duration is the time between two falling edges of SPC. The first bit (bit 0) starts at
the first falling edge of SPC after the falling edge of CS while the last bit (bit 15, bit 23, ...) starts at the last falling
edge of SPC just before the rising edge of CS.
bit 0: RW bit. When 0, the data DI(7:0) is written into the device. When 1, the data DO(7:0) from the device is
read. In latter case, the chip will drive SDO at the start of bit 8.
bit 1-7: address AD(6:0). This is the address field of the indexed register.
bit 8-15: data DI(7:0) (write mode). This is the data that is written into the device (MSb first).
bit 8-15: data DO(7:0) (read mode). This is the data that is read from the device (MSb first).
In multiple read/write commands further blocks of 8 clock periods will be added. When the CTRL3_C (12h)
(IF_INC) bit is ‘0’, the address used to read/write data remains the same for every block. When the CTRL3_C
(12h) (IF_INC) bit is ‘1’, the address used to read/write data is increased at every block.
The function and the behavior of SDI and SDO remain unchanged.
SPI read
Figure 8. SPI read protocol (in mode 3)
CS
SPC
SDI
SDO
RW
DO7 DO6 DO5 DO4 DO3 DO2 DO1 DO0
AD5 AD4 AD3 AD2 AD1 AD0
AD6
The SPI Read command is performed with 16 clock pulses. A multiple byte read command is performed by
adding blocks of 8 clock pulses to the previous one.
bit 0: READ bit. The value is 1.
bit 1-7: address AD(6:0). This is the address field of the indexed register.
bit 8-15: data DO(7:0) (read mode). This is the data that will be read from the device (MSb first).
bit 16-...: data DO(...-8). Further data in multiple byte reads.
LSM6DSO
I²C/SPI interface
DS12140 - Rev 2
page 20/172