The article you linked to says:
QuotePCM: This stands for “pulse-code modulation.” Use this setting if the external device you have connected to the HDMI port has already processed the sound, and you just want it to come out of your TV’s speakers.
This setting configuration for the Samsung TV changes the signal to 2.0 PCM as it passes through the TV. If you select PCM even though you have a home theater system or soundbar connected, the sound system will only receive 2.0 channel sound and the result will not be multi-channel surround sound, even if the sound system is capable of multi-channel PCM audio.
So that setting is 2 channel PCM only.
Also you are using SPDIF, which can handle stereo PCM, or compressed 5.1 using AC3 or DTS. It won't support multichannel PCM.
In kodi, set channels to 2.0. Enable AC3 passthrough. Enable AC3 transcode. You will get multichannel output from your 5.1 speakers (it will be using AC3 as the actual format that goes over SPDIF).