Colisión de escritura para múltiples lecturas - PIC24 I2C

Estoy tratando de sondear un sensor CAP188, así que le estoy enviando comandos de lectura en un bucle de tiempo, pero la primera lectura funciona y luego en la segunda lectura cuando envío la dirección del esclavo, detecta una colisión de escritura.

Para probar mi código, estoy intentando leer la ID del producto, que es un valor conocido. Cualquier ayuda sería apreciada, gracias!

void chipWrite(unsigned char reg, unsigned char data){
//Start bit
I2C2CONbits.SEN = 1;
while(I2C2CONbits.SEN);
IFS3bits.MI2C2IF = 0;

//Slave address bit
I2C2TRN = 0b01010000;
while(!IFS3bits.MI2C2IF);
IFS3bits.MI2C2IF = 0;

//Register address
I2C2TRN = reg;
while(!IFS3bits.MI2C2IF);
IFS3bits.MI2C2IF = 0;

//Data
I2C2TRN = data;
while(!IFS3bits.MI2C2IF);
IFS3bits.MI2C2IF = 0;

//Stop bit
I2C2CONbits.PEN = 1;
IFS3bits.MI2C2IF = 0;
while(I2C2CONbits.PEN);
}

void initChip(){
CLKDIVbits.RCDIV = 0;
AD1PCFG = 0x9FFC;
I2C2CON = 0;
TRISBbits.TRISB3 = 0;
TRISBbits.TRISB2 = 0;
I2C2CONbits.ACKDT = 1;
I2C2BRG = 157;
I2C2CONbits.I2CEN = 1;
_MI2C2IF = 0;
}

 unsigned char chipRead(unsigned char reg){   
unsigned char msb = 0;
while(!I2C2STATbits.P);

 /*start*/   
I2C2CONbits.SEN = 1;   
while(I2C2CONbits.SEN);

/*sensor address*/   
I2C2TRN = 0b01010000; 
while(I2C2STATbits.TBF);   
while(I2C2STATbits.TRSTAT);
while(I2C2STATbits.ACKSTAT);

 /*Register for reading*/   
I2C2TRN = reg;
while(I2C2STATbits.TBF);  
while(I2C2STATbits.TRSTAT);   
while(I2C2STATbits.ACKSTAT);

 /*repeated start*/   
I2C2CONbits.RSEN = 1;   
while(I2C2CONbits.RSEN);

/*Slave address with read = 1*/
I2C2TRN = 0b01010001;       
while(I2C2STATbits.TBF); 
while(I2C2STATbits.TRSTAT);
while(I2C2STATbits.ACKSTAT);

 /*receiver enabled*/   
I2C2CONbits.RCEN = 1;

/*read first byte data*/   
//while(!I2C2STATbits.RBF);   
while(I2C2CONbits.RCEN);
msb = I2C2RCV;

/*send nack*/   
I2C2CONbits.ACKEN = 1;
while(I2C1CONbits.ACKEN);

/*send stop*/   
I2C2CONbits.PEN = 1;   
while(I2C2CONbits.PEN);

return msb; 
}


int main(void) {
initChip();
char key = 0b00000000;
chipWrite(0x72,0xFF);
chipWrite(0x2B, 0x80);
chipWrite(0x26, 0xFF);

while(1){
    key = chipRead(0xFD);
    asm("nop");
    if(key == 0b01010000){
        asm("nop");
    }
    else{
        asm("nop");
    }
    key = 0x00;
}


return 0;
}