SPI Protocol

Serial Peripheral Interface — a synchronous serial communication protocol using four lines (MOSI, MISO, SCLK, CS) with full-duplex data transfer. SPI supports very high speeds (up to 100MHz) and is used for high-bandwidth sensor interfaces: IMUs (MPU-6000), ADCs, and display drivers in robot systems. Unlike I2C, SPI supports only one slave at a time per chip-select line.