//i2c for drv8234 with mspm0
uint8_t i2c_read(uint8_t reg_address){
    uint8_t write,read;
    write = reg_address;

    /*************************************************************************************
     * Fill the FIFO *  The FIFO is 8-bytes deep, and this function will return number  of bytes written to FIFO */
    DL_I2C_flushControllerRXFIFO(I2C_INST);

    DL_I2C_flushControllerTXFIFO(I2C_INST);
    DL_I2C_fillControllerTXFIFO(I2C_INST, &write, 1);

    /* Send the packet to the controller.
     * This function will send Start + Stop automatically.
     */

    /* Wait for I2C to be Idle */
    while (!(DL_I2C_getControllerStatus(I2C_INST) & DL_I2C_CONTROLLER_STATUS_IDLE));
    DL_I2C_startControllerTransferAdvanced(I2C_INST,
                                           DRIVE_8234_SLAVE_ADDR,
                                           DL_I2C_CONTROLLER_DIRECTION_TX,
                                           1,
                                           DL_I2C_CONTROLLER_START_ENABLE,
                                           DL_I2C_CONTROLLER_STOP_DISABLE,
                                           DL_I2C_CONTROLLER_ACK_DISABLE);

    /* Poll until the Controller writes all bytes */
    // Helic: Change bus busy to controller status busy
    while (DL_I2C_getControllerStatus(I2C_INST) & DL_I2C_CONTROLLER_STATUS_BUSY);

    /* Trap if there was an error */
    if (DL_I2C_getControllerStatus(I2C_INST) & DL_I2C_CONTROLLER_STATUS_ERROR) {
        /* LED will remain high if there is an error */
        __BKPT(0);
    }

    /* Send a read request to Target */
    DL_I2C_startControllerTransfer(I2C_INST, DRIVE_8234_SLAVE_ADDR, DL_I2C_CONTROLLER_DIRECTION_RX, 1);

    while(DL_I2C_isControllerRXFIFOEmpty(I2C_INST));

    read = DL_I2C_receiveControllerData(I2C_INST);

    delay_cycles(3000);

    return read;
}