CCS/MSP430F5529: Problem with I2C interface between MSP430F5529 and MPU9150

Part Number: MSP430F5529
Other Parts Discussed in Thread: AFE4403EVM, AFE4403

Tool/software: Code Composer Studio

Hello,

I am using the AFE4403EVM watch kit to measure PPG, ACC and GYRO simultaneously. However, I met a problem in reading the data of MPU9150 through the I2C interface.

Below is the code I am using to read the motion data, which I copied directly from the file slaa671a. The yellow part is where the problem is, the program always pauses at these two lines of code (I2C lockup?).I can't get the data anymore.How can I solve this problem?

PS: After I get one data, it will be directly transmitted to the computer via USB.

int8_t HAL_I2C_read_only(uint16_t baseAddress, uint8_t slave_addr, uint8_t reg, uint8_t *data, uint8_t byteCount)
{

  uint8_t comres = 0;

  //WAIT FOR PREVIOUS TRAFFIC TO CLEAR
  while(HWREG8(baseAddress + OFS_UCBxSTAT) & UCBBUSY);

  // LOAD THE DEVICE SLAVE ADDRESS
  HWREG16(baseAddress + OFS_UCBxI2CSA) = (slave_addr);

  // TURN OFF TRANSMIT (ENABLE RECEIVE)
  HWREG8(baseAddress + OFS_UCBxCTL1) &= ~UCTR;

  // GENERATE START BIT
  HWREG8(baseAddress + OFS_UCBxCTL1) |= UCTXSTT;

  // WAIT FOR START BIT TO COMPLETE
  while(HWREG8(baseAddress + OFS_UCBxCTL1) & UCTXSTT);

  // CHECK IF SLAVE ACK/NACK
  if((HWREG8(baseAddress + OFS_UCBxIFG) & UCNACKIFG))
  {
    // IF NACK, SET STOP BIT AND EXIT
    HWREG8(baseAddress + OFS_UCBxCTL1) |= UCTXSTP;
    return(USCI_I2C_STATUS_SLAVE_NACK);
  }

  // NOW READ ONE OR MORE DATA BYTES
  while(byteCount)
  {
    // IF READING 1 BYTE (OR LAST BYTE), GENERATE STOP BIT NOW TO MEET SPEC
    if(byteCount-- == 1)
    {
      HWREG8(baseAddress + OFS_UCBxCTL1) |= UCTXSTP;
    }

    // WAIT FOR NEXT RX INT
    while(!(HWREG8(baseAddress + OFS_UCBxIFG) & UCRXIFG));

    // READ THE BYTE
    *data++ = HWREG8(baseAddress + OFS_UCBxRXBUF);
  }

  return(comres);
}