ChibiOS Free Embedded RTOS

Hey people i really need your help !

I am working on Tfmini lidar on I2C ! I want to weite a driver for it on pichawk 4 chibios.
I wrote a driver on raspberry pi and it works fine ! I need to send on i2c bus this tram of data (0x01,0x02,0x07) then i start to read data without a stop confition in the middle ! It works just fine on raspberry pi but i dont get a signification data on pixhawk 4 using i2cMasterTransmitTimeout().
Can someone help me ?

Use i2cMasterTransmit() - that sends data, then if a receive buffer is defined sends a repeated start and enters read mode to read the specified number of bytes.