DRV8305: cannot get SPI working and is SDO pullup necessary?

#include <stdio.h>
#include <string.h>
#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_system.h"
#include "esp_spi_flash.h"
#include "driver/spi_master.h"
#include "driver/gpio.h"
#include "esp_task_wdt.h"

#define GPIO_EN_GATE 22
#define GPIO_nFAULT 17
#define GPIO_PWRGD 16

uint32_t read_spi_register(spi_device_handle_t spi, uint8_t read_high, uint8_t read_low)
{

    uint8_t command_reg[2];
    command_reg[0] = read_high;
    command_reg[1] = read_low;
    
    uint8_t read_reg[4] = {0};
  
    esp_err_t ret;
    spi_transaction_t t;
    memset(&t, 0, sizeof(t));
    t.length=16;             
    t.tx_buffer = &command_reg; 
    t.rx_buffer = &read_reg;
    t.user=(void*)0;            

    ret = spi_device_acquire_bus(spi, portMAX_DELAY);
    assert(ret==ESP_OK);        
    ret=spi_device_polling_transmit(spi, &t); 
    //ret = spi_device_transmit(spi, &t);
    assert(ret==ESP_OK);           
    spi_device_release_bus(spi);

    return *(uint32_t*)t.rx_data;
}


void app_main(void)
{
    printf("Hello world!\n");

    /* Print chip information */
    esp_chip_info_t chip_info;
    esp_chip_info(&chip_info);
    printf("This is %s chip with %d CPU cores, WiFi%s%s, ",
            CONFIG_IDF_TARGET,
            chip_info.cores,
            (chip_info.features & CHIP_FEATURE_BT) ? "/BT" : "",
            (chip_info.features & CHIP_FEATURE_BLE) ? "/BLE" : "");

    printf("silicon revision %d, ", chip_info.revision);

    printf("%dMB %s flash\n", spi_flash_get_chip_size() / (1024 * 1024),
            (chip_info.features & CHIP_FEATURE_EMB_FLASH) ? "embedded" : "external");

    printf("Free heap: %d\n", esp_get_free_heap_size());

    /* config drv8305 */
    gpio_set_direction(GPIO_EN_GATE, GPIO_MODE_OUTPUT);
    gpio_set_level(GPIO_EN_GATE, 0);
    gpio_set_direction(GPIO_nFAULT, GPIO_MODE_INPUT);
    gpio_set_direction(GPIO_PWRGD, GPIO_MODE_INPUT);
    vTaskDelay(1 / portTICK_PERIOD_MS);

    /* query drv8305 */
    printf("Starting spi...\n");
    esp_err_t ret;
    spi_device_handle_t spi;
    spi_bus_config_t buscfg={
        .miso_io_num=19,
        .mosi_io_num=23,
        .sclk_io_num=18,
        .quadwp_io_num=-1,
        .quadhd_io_num=-1,
        .max_transfer_sz=0
    };
    spi_device_interface_config_t devcfg={
        .clock_speed_hz=1*1000,
        .mode=1,                                //SPI mode 0
        .spics_io_num=5,       
        .queue_size=2,         
	.cs_ena_pretrans = 10,
    };
    ret=spi_bus_initialize(VSPI_HOST, &buscfg, 2);
    ESP_ERROR_CHECK(ret);
    ret=spi_bus_add_device(VSPI_HOST, &devcfg, &spi);
    ESP_ERROR_CHECK(ret);
    

    /* wait and quit */
    int counter = 0;
    gpio_set_level(GPIO_EN_GATE, 1);
    while (true) {
	counter += 1;

	read_spi_register(spi, 0x1 << 7 | 0x0 << 2 , 0x0);

	read_spi_register(spi, 0x1 << 7 | 0x5 << 2 , 0x0);
	
	read_spi_register(spi, 0x1 << 7 | 0x7 << 2 , 0x0);
	

	vTaskDelay(20 / portTICK_PERIOD_MS);
    }

}