I2C communication XMC4500 Relax Kit

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Hello everyone. I am using this sensor http://www.st.com/web/en/resource/technical/document/datasheet/DM00103319.pdf and I want to receive from this sensor contents of the specific register of this sensor which is located under the sepcific address in memory. Do you have any idea, how to do it. Of course I know, how I2C interface works, first of all I send start condition after that address of the slave after that data which I would like to send, but how to read the contents of the rgister of the slave. Every help is strongly appreciated !!! Thanks in advance !!!
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