Help with I2C Read for LSM303DLHC

[BVX486]

The following is the table for the transaction. The ESP32 is setup as a master. The code I have written is shown below. The problem I am facing is that although I am able to read the slave addresses, I cannot read or write to the registers correctly. I receive invalid data when I try to read or write to the registers. Would someone be able to suggest anything to help perform the successful read? Thank you very much in advance

OUTPUT FROM CODE

CODE FOR I2C READ
int result;
i2c_cmd_handle_t cmd = i2c_cmd_link_create(); // Create the command handle
i2c_master_start(cmd); // Start sequence
i2c_master_write_byte(cmd, (dev->addr << 1) | I2C_MASTER_WRITE, 1); // Slave address is sent (WRITE OPERATION WITH I2C_MASTER_ACK)
i2c_master_write_byte(cmd, reg, 1); // The address of the register to read from
i2c_master_start(cmd); // Start after first start is treated as a repeated start by the ESP-IDF I2C driver.
i2c_master_write_byte(cmd, (dev->addr << 1) | I2C_MASTER_READ, 1); // Write to the slave to perform a read comand
i2c_master_read(cmd, (uint8_t *)&data, len, 0); // Read command
i2c_master_stop(cmd); // Stop sequence
result = i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000 / portTICK_PERIOD_MS); // Begin the command (success returns 0)
i2c_cmd_link_delete(cmd); // Delete the command

DATASHEET

[BVX486]

I answered my own question here. Using the i2ctools.c example, I was able to successfully read and write to device. For anyone interested, the code is shown below:

dev->addr is the address of the accelerometer (0x19), and when shifted one to the left, sets the address for the ACCELEROMETER_READ and ACCELEROMETER_WRITE commands as 0x33 and 0x32 respectively.
I2C_AUTO_INCREMENT is a macro defined as 0x80, because as mentioned in the datasheet, when the MSB of a register is set, the registers will autoincrement when performing read or write commands.

I2C READ

    if (len > 1)
        reg |= I2C_AUTO_INCREMENT;
    i2c_cmd_handle_t cmd = i2c_cmd_link_create();                        // Create the command handle
    i2c_master_start(cmd);                                               // Start sequence
    i2c_master_write_byte(cmd, dev->addr << 1 | I2C_MASTER_WRITE, 0x1);  // Slave address is sent (WRITE OPERATION WITH I2C_MASTER_ACK)
    i2c_master_write_byte(cmd, reg, 0x1);                                // The address of the register to read from
    i2c_master_start(cmd);                                               // Start after first start is treated as a repeated start by the ESP-IDF I2C driver.
    i2c_master_write_byte(cmd, (dev->addr << 1) | I2C_MASTER_READ, 0x1); // Write to the slave to perform a read comand
    if (len > 1)
    {
        i2c_master_read(cmd, data, len - 1, 0x0); // Read Command
    }
    i2c_master_read_byte(cmd, data + len - 1, 0x1);
    i2c_master_stop(cmd);                                                            // Stop sequence
    esp_err_t ret = i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000 / portTICK_PERIOD_MS); // Begin the command
    i2c_cmd_link_delete(cmd);                                                        // Delete the command

I2C WRITE

    if (len > 1)
        reg |= I2C_AUTO_INCREMENT;

    i2c_cmd_handle_t cmd = i2c_cmd_link_create();                         // Create the command handle
    i2c_master_start(cmd);                                                // Start sequence
    i2c_master_write_byte(cmd, (dev->addr << 1) | I2C_MASTER_WRITE, 0x1); // Want to perform a write command (with acknowledgement) to the slave address
    i2c_master_write_byte(cmd, reg, 0x1);                                 // The address of the register to write to
    for (int i = 0; i < len; i++)
    {
        i2c_master_write(cmd, (uint8_t *)data, len, 0x1); // The data we want to write
    }
    i2c_master_stop(cmd);                                                            // Stop sequence
    esp_err_t ret = i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000 / portTICK_PERIOD_MS); // Begin the command
    i2c_cmd_link_delete(cmd);                                                        // Delete the command