void MPU6050_I2C_BufferRead(u8 slaveAddr, u8* pBuffer, u8 readAddr, u16 NumByteToRead)
{
    // ENTR_CRT_SECTION();

    /* While the bus is busy */
    //while (I2C_GetFlagStatus(I2C_FLAG_BUSBUSY));

    /* Send START condition */
    I2C_GenerateSTART(ENABLE);

    /* Test on EV5 and clear it */
    while (!I2C_CheckEvent(I2C_EVENT_MASTER_MODE_SELECT));

    /* Send MPU6050 address for write */
    I2C_Send7bitAddress(slaveAddr, I2C_DIRECTION_TX);

    /* Test on EV6 and clear it */
    while (!I2C_CheckEvent(I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));

    /* Clear EV6 by setting again the PE bit */
    I2C_Cmd(ENABLE);

    /* Send the MPU6050's internal address to write to */
    I2C_SendData(readAddr);

    /* Test on EV8 and clear it */
    while (!I2C_CheckEvent(I2C_EVENT_MASTER_BYTE_TRANSMITTED));

    /* Send STRAT condition a second time */
    I2C_GenerateSTART(ENABLE);

    /* Test on EV5 and clear it */
    while (!I2C_CheckEvent(I2C_EVENT_MASTER_MODE_SELECT));

    /* Send MPU6050 address for read */
    I2C_Send7bitAddress(slaveAddr, I2C_DIRECTION_RX);

    /* Test on EV6 and clear it */
    while (!I2C_CheckEvent(I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED));

    volatile u8 t;
    
    /* While there is data to be read */
    while (NumByteToRead)
    {      
        if (NumByteToRead == 1)
        {
            /* Disable Acknowledgement */
            I2C_AcknowledgeConfig(I2C_ACK_NONE);

            /* Send STOP Condition */
            I2C_GenerateSTOP(ENABLE);
            
        t=0;
        }

        /* Test on EV7 and clear it */
        if (I2C_CheckEvent(I2C_EVENT_MASTER_BYTE_RECEIVED))
        {
            /* Read a byte from the MPU6050 */
            *pBuffer = I2C_ReceiveData();

            /* Point to the next location where the byte read will be saved */
            pBuffer++;

            /* Decrement the read bytes counter */
            NumByteToRead--;
        }
    }

    /* Enable Acknowledgement to be ready for another reception */
    I2C_AcknowledgeConfig(I2C_ACK_CURR);
    // EXT_CRT_SECTION();
}