TMS320F28069M: I2C interrupt problem

Hello,

I use TMS320F28069M for i2c communication. The following code is my code for  i2c communication.

#include "DSP28x_Project.h"
#include "i2c.h"
#include "mpu6050.h"


__interrupt void IMU(void);




float b=0;
double po=0;
Uint16 c=0;
Uint16 aaaa=0;






void main(void)
{


   InitSysCtrl();



   I2CA_Init();
   MPU6050_Init();



   /////////////////////////////////////////////////////////
   DINT;
   IER = 0x0000;
   IFR = 0x0000;
   InitPieCtrl();
   InitPieVectTable();
   EALLOW;
   PieVectTable.I2CINT1A = &IMU;
   EDIS;


   PieCtrlRegs.PIECTRL.bit.ENPIE = 1;   // Enable the PIE block
   PieCtrlRegs.PIEIER8.bit.INTx1=1;     //I2CINT1A
   IER|=M_INT8;                         //I2CINT1A
   EINT;                                // Enable Global Interrupts
   ERTM;
   ///////////////////////////////////////////////////////
       while (I2caRegs.I2CSTR.bit.BB == 1);        // busy loop
       I2caRegs.I2CSTR.bit.SCD = 1;                // Clear the SCD bit (stop condition bit)
       while(I2caRegs.I2CMDR.bit.STP == 1);        // stop bit loop
       I2caRegs.I2CSAR = MPU6050_ADDR;             // I2C slave address
       I2caRegs.I2CCNT     = 1;                    // assume register address is one byte
       I2caRegs.I2CDXR     = WHO_AM_I;                  // register address of the sensor (1 byte)
       I2caRegs.I2CMDR.all = 0x6620;               // start, no stop bit, master, tx, reset I2C 00100110
   ///////////////////////////////////////////////////////

    for(;;)

    {


       //DELAY_US(100.0);
       //po=GYRO_READ(GYRO_YOUT_H);
       //b=TEMP_READ(TEMP_OUT_H);
       //c=I2CA_ReadData(MPU6050_ADDR, WHO_AM_I);
    }

}






__interrupt void IMU(void)
{
    switch(I2caRegs.I2CISRC.bit.INTCODE)
    {
    case 3:
        I2caRegs.I2CSTR.bit.ARDY = 1;
        I2caRegs.I2CCNT     = 1;                    // assume register address is one byte
        I2caRegs.I2CMDR.all = 0x6C20;               // start, stop bit when CNT =0, master, rx, reset I2C 00101100;
        break;

    case 6:
        I2caRegs.I2CSTR.bit.SCD = 1;                // Clear the SCD bit (stop condition bit)
        aaaa = I2caRegs.I2CDRR;
        //while(I2caRegs.I2CMDR.bit.STP == 1);        // stop bit loop
        I2caRegs.I2CCNT     = 1;                    // assume register address is one byte
        I2caRegs.I2CDXR     = WHO_AM_I;                  // register address of the sensor (1 byte)
        I2caRegs.I2CMDR.all = 0x6620;               // start, no stop bit, master, tx, reset I2C 00100110
        break;
    }

    PieCtrlRegs.PIEACK.all|=PIEACK_GROUP8;
}

As you can see, there is  two states in interrupt service routine:  I2caRegs.I2CISRC.bit.INTCODE=3 (Registers ready to be accessed) and I2caRegs.I2CISRC.bit.INTCODE=6  (Stop condition detected).

my problem is:

In I2caRegs.I2CISRC.bit.INTCODE=6  I have to use  while(I2caRegs.I2CMDR.bit.STP == 1) or a delay of 100 micro second for properly working of I2C. So what is the problem of code without that delay and what can I do for removing that delay or while(I2caRegs.I2CMDR.bit.STP == 1) in my code.

Regards,

Mohammad.