I tried to setup a L0 using SPI to connect with LSM6DSR, all codes are generated using CubeMX (also the driver code for LSM6DSR with X-CUBE-MEMS1)

The weird thing is, when ever it tries to utilize SPI functions (Transmit, Receive, and Transmit/Receive), it will always return HAL_SPI_ERROR_MODF. The SPI1 only have LSM6DSR connected, no other slaves, the only master is the L0.

The SPI is setup as below, generated by CubeMX but I think there shouldn’t be a problem:

__weak HAL_StatusTypeDef MX_SPI1_Init(SPI_HandleTypeDef* hspi)
{
  HAL_StatusTypeDef ret = HAL_OK;

  hspi->Instance = SPI1;
  hspi->Init.Mode = SPI_MODE_MASTER;
  hspi->Init.Direction = SPI_DIRECTION_2LINES;
  hspi->Init.DataSize = SPI_DATASIZE_8BIT;
  hspi->Init.CLKPolarity = SPI_POLARITY_HIGH;
  hspi->Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi->Init.NSS = SPI_NSS_SOFT;
  hspi->Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
  hspi->Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi->Init.TIMode = SPI_TIMODE_DISABLE;
  hspi->Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi->Init.CRCPolynomial = 7;
  if (HAL_SPI_Init(hspi) != HAL_OK)
  {
    ret = HAL_ERROR;
  }

  return ret;
}

The initalization code:

static int32_t IMU_Init(void){
  //Initialize LSM6DSR
  LSM6DSR_IO_t            io_ctx;
  uint8_t                 id;
  static LSM6DSR_Object_t lsm6dsr_obj_0;
  int32_t ret = BSP_ERROR_NONE;

    /* Configure the accelero driver */
  io_ctx.BusType     = LSM6DSR_SPI_4WIRES_BUS; /* SPI with CS */
  io_ctx.Address     = NULL; //Doesn't have an address for SPI
  io_ctx.Init        = BSP_SPI1_Init;
  io_ctx.DeInit      = BSP_SPI1_DeInit;
  io_ctx.ReadReg     = BSP_SPI1_SendRecv;
  io_ctx.WriteReg    = BSP_SPI1_SendRecv;
  io_ctx.GetTick     = BSP_GetTick;

  if (LSM6DSR_RegisterBusIO(&lsm6dsr_obj_0, &io_ctx) != LSM6DSR_OK)
  {
    ret = BSP_ERROR_UNKNOWN_COMPONENT;
  }
  else if (LSM6DSR_ReadID(&lsm6dsr_obj_0, &id) != LSM6DSR_OK) 
  {
    ret = BSP_ERROR_UNKNOWN_COMPONENT;
    Error_Handler();
  }
  else if (id != LSM6DSR_ID)
  {
    ret = BSP_ERROR_UNKNOWN_COMPONENT;
  }
  else
  {
    // Customization Part:
    // Enable Accelerometer only

    // Disable the Gyro
    if(LSM6DSR_GYRO_Disable(&lsm6dsr_obj_0) != LSM6DSR_OK)
    {
      ret = BSP_ERROR_COMPONENT_FAILURE;
    }

    //Setup Accelero
    if(LSM6DSR_ACC_SetOutputDataRate(&lsm6dsr_obj_0, 104.0f) != LSM6DSR_OK)
    {
      ret = BSP_ERROR_COMPONENT_FAILURE;
    }
    if(LSM6DSR_ACC_SetFullScale(&lsm6dsr_obj_0, LSM6DSR_ACC_SENSITIVITY_FS_4G) != LSM6DSR_OK)
    {
      ret = BSP_ERROR_COMPONENT_FAILURE;
    }

    //Setup Interrupt for wake up

    //Enable Accelero
    if(LSM6DSR_ACC_Enable(&lsm6dsr_obj_0) != LSM6DSR_OK)
    {
      ret = BSP_ERROR_COMPONENT_FAILURE;
    }

  }
  return ret;
}

I also noticed that when I set SPI_POLARITY_HIGH, the SCK line never idle-high. I tried to fix it with internal pull-up in GPIO init but then again, never fixes the MODF problem.