Read multiple data bytes in one I2C sequence.

Hi!

I'm trying to implement a I2C connection from a TM4C123 board to an Adafruit BNO055. I have success in reading one byte per sequence but unfortunately, the chip requires reading several bytes in one sequence to avoid data inconsistency. I'm trying first to read 2 bytes MSB and LSB with the following code:

uint16_t I2CStretchedReceive(uint32_t I2C_base, uint8_t slave_addr, uint8_t sub_addr)
{
    // returns LSB and MSB in a 16-bit word
    uint8_t data[2];
    uint16_t axis_value;
    //specify that we are writing (a register address) to the slave device
    I2CMasterSlaveAddrSet(I2C_base, slave_addr, false);

    //specify register to be read
    I2CMasterDataPut(I2C_base, sub_addr);

    //send control byte and register address byte to slave device
    I2CMasterControl(I2C_base, I2C_MASTER_CMD_BURST_SEND_START);

    //wait for MCU to finish transaction
    while(I2CMasterBusy(I2C_base));

    //specify that we are going to read from slave device
    I2CMasterSlaveAddrSet(I2C_base, slave_addr, true);

    //send control byte and read from the register we
    //specified
    I2CMasterControl(I2C_base, I2C_MASTER_CMD_BURST_RECEIVE_START);

    //wait for MCU to finish transaction
    while(I2CMasterBusy(I2C_base));

    //return 1st byte pulled from the specified register
    data[0] = (uint8_t)I2CMasterDataGet(I2C_base);

    I2CMasterControl(I2C_base, I2C_MASTER_CMD_BURST_RECEIVE_FINISH);

    //wait for MCU to finish transaction
    while(I2CMasterBusy(I2C_base));

    //return 2th byte pulled from the specified register
    data[1] = I2CMasterDataGet(I2C_base);
    axis_value = (data[1] << 8)| data[0];
    return axis_value;
}

Then I write uint16_t axis_data = I2CStretchedReceive(I2C3_BASE, BNO055_ADDRESS, GYRO_DATA_X_LSB) but it does not work because I2CMasterDataGet() only returns 0x00 to data[i].

The I2C initialization is as followed:

void iic_init(void)
{
	//enable I2C module 3
	SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);

	//reset module
	SysCtlPeripheralReset(SYSCTL_PERIPH_I2C3);

	//enable GPIO peripheral that contain I2C3
	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);

	// Configure the pin muxing for I2C3 function on port D0 and D1.
	GPIOPinConfigure(GPIO_PD0_I2C3SCL);
	GPIOPinConfigure(GPIO_PD1_I2C3SDA);

	// Select the I2C function for these pins.
	GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
	GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);

	// Set 100 kbps transfer rate
	I2CMasterInitExpClk(I2C3_BASE, SysCtlClockGet(), false);
        // Enable clock stretching
	I2CMasterTimeoutSet(I2C3_BASE, 0xFF);
	// I2CMasterEnable(I2C3_BASE);
	while(I2CMasterBusy(I2C3_BASE));
}

Does anyone have any idea of what I'm doing wrong? Thank you very much for your time!