SPI communication with teensy 4.1 is not working about invensense-imu HOT 18 CLOSED

bool Mpu9250::Begin() {
  if (iface_ == SPI) {
    pinMode(dev_, OUTPUT);
    /* Toggle CS pin to lock in SPI mode */
    digitalWrite(dev_, LOW);
    delay(1);
    digitalWrite(dev_, HIGH);
    delay(1);
  }
  /* 1 MHz for config */
  spi_clock_ = SPI_CFG_CLOCK_;
  /* Select clock source to gyro */
  if (!WriteRegister(PWR_MGMNT_1_, CLKSEL_PLL_)) {
    Serial.println("ERROR 1");
    return false;
  }
  /* Enable I2C master mode */
  if (!WriteRegister(USER_CTRL_, I2C_MST_EN_)) {
    Serial.println("ERROR 2");
    return false;
  }
  /* Set the I2C bus speed to 400 kHz */
  if (!WriteRegister(I2C_MST_CTRL_, I2C_MST_CLK_)) {
    Serial.println("ERROR 3");
    return false;
  }
  /* Set AK8963 to power down */
  WriteAk8963Register(AK8963_CNTL1_, AK8963_PWR_DOWN_);
  /* Reset the MPU9250 */
  WriteRegister(PWR_MGMNT_1_, H_RESET_);
  /* Wait for MPU-9250 to come back up */
  delay(1);
  /* Reset the AK8963 */
  WriteAk8963Register(AK8963_CNTL2_, AK8963_RESET_);
  /* Select clock source to gyro */
  if (!WriteRegister(PWR_MGMNT_1_, CLKSEL_PLL_)) {
    Serial.println("ERROR 4");
    return false;
  }
  /* Check the WHO AM I byte */
  if (!ReadRegisters(WHOAMI_, sizeof(who_am_i_), &who_am_i_)) {
    Serial.println("ERROR 5");
    return false;
  }
  if ((who_am_i_ != WHOAMI_MPU9250_) && (who_am_i_ != WHOAMI_MPU9255_)) {
    Serial.println("ERROR 6");
    return false;
  }
  /* Enable I2C master mode */
  if (!WriteRegister(USER_CTRL_, I2C_MST_EN_)) {
    Serial.println("ERROR 7");
    return false;
  }
  /* Set the I2C bus speed to 400 kHz */
  if (!WriteRegister(I2C_MST_CTRL_, I2C_MST_CLK_)) {
    Serial.println("ERROR 8");
    return false;
  }
  /* Check the AK8963 WHOAMI */
  if (!ReadAk8963Registers(AK8963_WHOAMI_, sizeof(who_am_i_), &who_am_i_)) {
    Serial.println("ERROR 9");
    return false;
  }
  if (who_am_i_ != WHOAMI_AK8963_) {
    Serial.println("ERROR 10");
    return false;
  }
  /* Get the magnetometer calibration */
  /* Set AK8963 to power down */
  if (!WriteAk8963Register(AK8963_CNTL1_, AK8963_PWR_DOWN_)) {
    Serial.println("ERROR 11");
    return false;
  }
  delay(100);  // long wait between AK8963 mode changes
  /* Set AK8963 to FUSE ROM access */
  if (!WriteAk8963Register(AK8963_CNTL1_, AK8963_FUSE_ROM_)) {
    Serial.println("ERROR 12");
    return false;
  }
  delay(100);  // long wait between AK8963 mode changes
  /* Read the AK8963 ASA registers and compute magnetometer scale factors */
  if (!ReadAk8963Registers(AK8963_ASA_, sizeof(asa_buff_), asa_buff_)) {
    Serial.println("ERROR 13");
    return false;
  }
  mag_scale_[0] = ((static_cast<float>(asa_buff_[0]) - 128.0f)
    / 256.0f + 1.0f) * 4912.0f / 32760.0f;
  mag_scale_[1] = ((static_cast<float>(asa_buff_[1]) - 128.0f)
    / 256.0f + 1.0f) * 4912.0f / 32760.0f;
  mag_scale_[2] = ((static_cast<float>(asa_buff_[2]) - 128.0f)
    / 256.0f + 1.0f) * 4912.0f / 32760.0f;
  /* Set AK8963 to power down */
  if (!WriteAk8963Register(AK8963_CNTL1_, AK8963_PWR_DOWN_)) {
    Serial.println("ERROR 14");
    return false;
  }
  /* Set AK8963 to 16 bit resolution, 100 Hz update rate */
  if (!WriteAk8963Register(AK8963_CNTL1_, AK8963_CNT_MEAS2_)) {
    Serial.println("ERROR 15");
    return false;
  }
  delay(100);  // long wait between AK8963 mode changes
  /* Select clock source to gyro */
  if (!WriteRegister(PWR_MGMNT_1_, CLKSEL_PLL_)) {
    Serial.println("ERROR 16");
    return false;
  }
  /* Set the accel range to 16G by default */
  if (!ConfigAccelRange(ACCEL_RANGE_16G)) {
    Serial.println("ERROR 17");
    return false;
  }
  /* Set the gyro range to 2000DPS by default*/
  if (!ConfigGyroRange(GYRO_RANGE_2000DPS)) {
    Serial.println("ERROR 18");
    return false;
  }
  /* Set the DLPF to 184HZ by default */
  if (!ConfigDlpfBandwidth(DLPF_BANDWIDTH_184HZ)) {
    Serial.println("ERROR 19");
    return false;
  }
  /* Set the SRD to 0 by default */
  if (!ConfigSrd(0)) {
    Serial.println("ERROR 20");
    return false;
  }
  return true;
}

bool Mpu9250::WriteRegister(uint8_t reg, uint8_t data) {
  uint8_t ret_val;
  if (iface_ == I2C) {
    i2c_->beginTransmission(dev_);
    i2c_->write(reg);
    i2c_->write(data);
    i2c_->endTransmission();
  } else {
    spi_->beginTransaction(SPISettings(spi_clock_, MSBFIRST, SPI_MODE3));
    #if defined(TEENSYDUINO)
    digitalWriteFast(dev_, LOW);
    #else
    digitalWrite(dev_, LOW);
    #endif
    #if defined(__IMXRT1062__)
      delayNanoseconds(75);
    #endif
    spi_->transfer(reg);
    spi_->transfer(data);
    #if defined(TEENSYDUINO)
    digitalWriteFast(dev_, HIGH);
    #else
    digitalWrite(dev_, HIGH);
    #endif
    #if defined(__IMXRT1062__)
      delayNanoseconds(75);
    #endif
    spi_->endTransaction();
  }
  delay(10);
  ReadRegisters(reg, sizeof(ret_val), &ret_val);
  if (data == ret_val) {
    return true;
  } else {
    return false;
  }
}
bool Mpu9250::ReadRegisters(uint8_t reg, uint8_t count, uint8_t *data) {
  if (iface_ == I2C) {
    i2c_->beginTransmission(dev_);
    i2c_->write(reg);
    i2c_->endTransmission(false);
    bytes_rx_ = i2c_->requestFrom(static_cast<uint8_t>(dev_), count);
    if (bytes_rx_ == count) {
      for (std::size_t i = 0; i < count; i++) {
        data[i] = i2c_->read();
      }
      return true;
    } else {
      return false;
    }
  } else {
    spi_->beginTransaction(SPISettings(spi_clock_, MSBFIRST, SPI_MODE3));
    #if defined(TEENSYDUINO)
    digitalWriteFast(dev_, LOW);
    #else
    digitalWrite(dev_, LOW);
    #endif
    #if defined(__IMXRT1062__)
      delayNanoseconds(75);
    #endif
    spi_->transfer(reg | SPI_READ_);
    spi_->transfer(data, count);
    #if defined(TEENSYDUINO)
    digitalWriteFast(dev_, HIGH);
    #else
    digitalWrite(dev_, HIGH);
    #endif
    #if defined(__IMXRT1062__)
      delayNanoseconds(75);
    #endif
    spi_->endTransaction();
    return true;
  }
}