BNO055 I2C TM4C123GXL

Hello,

I am currently working on I2C communications using TIVA TM4C123 and BNO055. I am having some issues reading data from BNO055, wondering if anyone can take a look at my read and  write functions to see what i am doing wrong. Thanks 

void InitI2C0(void)
{
    //enable I2C module 0
    SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C0);

    //reset module
    SysCtlPeripheralReset(SYSCTL_PERIPH_I2C0);

    //enable GPIO peripheral that contains I2C 0
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);

    // Configure the pin muxing for I2C1 functions on port B2 and B3.
    GPIOPinConfigure(GPIO_PB2_I2C0SCL);
    GPIOPinConfigure(GPIO_PB3_I2C0SDA);

    // Select the I2C function for these pins.
    GPIOPinTypeI2CSCL(GPIO_PORTB_BASE, GPIO_PIN_2);
    GPIOPinTypeI2C(GPIO_PORTB_BASE, GPIO_PIN_3);

    // Enable and initialize the I2C0 master module.  Use the system clock for
    // the I2C0 module.  The last parameter sets the I2C data transfer rate.
    // If false the data rate is set to 100kbps and if true the data rate will
    // be set to 400kbps.
    I2CMasterInitExpClk(I2C0_BASE, SysCtlClockGet(), false);

    //clear I2C FIFOs
    	HWREG(I2C0_BASE + I2C_O_FIFOCTL) = 80008000;
}

s8 bno_write(u8 dev_address, u8 reg_address, u8 *reg_data, u8 count)
{
	//specify that we want to communicate to device address with an intended write to bus
	I2CMasterSlaveAddrSet(I2C0_BASE, dev_address, false);

	//register to be read
	I2CMasterDataPut(I2C0_BASE, reg_address);

	//send control byte and register address byte to slave device
	I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_START);

	//wait for MCU to finish transaction
	while(I2CMasterBusy(I2C0_BASE));
	
	I2CMasterSlaveAddrSet(I2C0_BASE, dev_address, true);

	//specify data to be written to the above mentioned reg_data
	I2CMasterDataPut(I2C0_BASE, *reg_data);

	//wait while checking for MCU to complete the transaction
	I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_FINISH);

	//wait for MCU & device to complete transaction
	while(I2CMasterBusy(I2C0_BASE));	//more magic

	return I2CMasterErr(I2C0_BASE);

}

//read specified register on slave device
s8 bno_read(u8 dev_address, u8 reg_address, u8 *reg_data, u8 count)
{
	int x;
if(count==1){
	//specify that we want to communicate to device address with an intended write to bus
    I2CMasterSlaveAddrSet(I2C0_BASE, dev_address, false);

    //specify register to be read
    I2CMasterDataPut(I2C0_BASE, reg_address);

    //send control byte and register address byte to slave device
    I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_SINGLE_SEND);

    //wait for MCU to finish transaction
    while(I2CMasterBusy(I2C0_BASE));

    //specify that we are going to read from slave device
    I2CMasterSlaveAddrSet(I2C0_BASE, dev_address, true);

    //send control byte and read from the register from the MCU
    I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_SINGLE_RECEIVE);

    //wait for MCU to finish transaction
    while(I2CMasterBusy(I2C0_BASE));
}

else{
	for(x=0; x < count ; x++)
	{
		//specify that we want to communicate to device address with an intended write to bus
	    I2CMasterSlaveAddrSet(I2C0_BASE, dev_address, false);

	    //specify register to be read
	    I2CMasterDataPut(I2C0_BASE, reg_address);

	    //send control byte and register address byte to slave device
	    I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_SINGLE_SEND);

	    //wait for MCU to finish transaction
	    while(I2CMasterBusy(I2C0_BASE));

	    //specify that we are going to read from slave device
	    I2CMasterSlaveAddrSet(I2C0_BASE, dev_address, true);

	    //send control byte and read from the register from the MCU
	    I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_SINGLE_RECEIVE);

	    //wait for MCU to finish transaction
	    while(I2CMasterBusy(I2C0_BASE));

	    reg_address++;

	}

}
	return( I2CMasterDataGet(I2C0_BASE));
}