Datasheet

5.4 Master I²C interface
If the LSM6DSO is configured in Mode 2, a master I²C line is available. The master serial interface is mapped in
the following dedicated pins.
Table 16. Master I²C pin details
Pin name Pin description
MSCL I²C serial clock master
MSDA I²C serial data master
MDRDY I²C master external synchronization signal
5.5 Auxiliary SPI interface
If the LSM6DSO is configured in Mode 3 or Mode 4, the auxiliary SPI is available. The auxiliary SPI interface is
mapped to the following dedicated pins.
Table 17. Auxiliary SPI pin details
Pin name Pin description
OCS_Aux Auxiliary SPI 3/4-wire enable
SDx Auxiliary SPI 3/4-wire data input (SDI_Aux) and SPI 3-wire data output (SDO_Aux)
SCx Auxiliary SPI 3/4-wire interface serial port clock
SDO_Aux Auxiliary SPI 4-wire data output (SDO_Aux)
When the LSM6DSO is configured in Mode 3 or Mode 4, the auxiliary SPI can be connected to a camera module
for OIS/EIS support. In this configuration, the auxiliary SPI can write only to the dedicated registers INT_OIS
(6Fh), CTRL1_OIS (70h), CTRL2_OIS (71h), CTRL3_OIS (72h). All the registers are accessible in Read mode
from both the primary interface and auxiliary SPI.
Mode 3 is enabled when the OIS_EN_SPI2 bit in CTRL1_OIS (70h) register is set to 1.
Mode 4 is enabled when both the OIS_EN_SPI2 bit and the Mode4_EN bit in CTRL1_OIS (70h) register are set
to 1.
LSM6DSO
Master I²C interface
DS12140 - Rev 2
page 26/172