MAX32666 and BMI160 communication issues with I2C

[obones]

Hello,

I'm using the publicly released version of MSDK to write code for the MAX32666FTHR board, trying to use the integrated BMI160 IMU
While most things work properly, I found that I had an infinite loop when trying to read all 6 accelerometer registers in one read call. Basically, the first read works, but any subsequent call ends up in an endless loop inside i2c_reva.c
Looking at the history of files here, I found out that commit 1b95b29 is the solution to this endless loop and so I applied the changes locally.
In an effort to keep the file up to date, I also applied changes from other commits, but I found out that b63a90d broke communication in my case. Indeed, with this commit, the first call works, but any subsequent call receives a E_BUSY error. If I simply remove the changes from that commit and keep the previously mentioned one, everything is back to a working, situation.

Here is the code that reads the 6 registers at once:

void loop()
{
    uint8_t buffer[6] = {};

    _i2c_req_t req;
    req.addr = 0b1101000;
    req.i2c = MXC_I2C0_BUS0;
    req.tx_buf = buffer;
    req.tx_len = 1;
    req.rx_buf = buffer;
    req.rx_len = 6;

    buffer[0] = 0x12; // first accelerometer register

    int err = MXC_I2C_MasterTransaction(&req);
    switch (err)
    {
        case E_NO_ERROR:
            break;
        case E_BUSY:
            printf("x");
            return;
        default:
            printf("TraceActivity::loop(): I2C failed: %d.\n", err);
            return;
    }

    ax = ((int16_t)buffer[1]) << 8 | buffer[0];
    ay = ((int16_t)buffer[3]) << 8 | buffer[2];
    az = ((int16_t)buffer[5]) << 8 | buffer[4];

    printf("ax: %d, ay: %d, az: %d\n", ax, ay, az);
}

I'm not sure what the solution would be, but in my case, reverting b63a90d would be my recommendation.