SoC and i2c read/write transaction without stop in between.

I connect FXOS8700CQ to SoC with Intel FPGA Avalon I2C (Master) Core.

Add to *.dts:

i2c_accelerometer: i2c@0x000010300 {
	compatible = "altr,softip-i2c-v1.0";
	reg = <0x00000000 0x00010300 0x00000040>;
	interrupt-parent = <&hps_0_arm_gic_0>;
	interrupts = <0 51 4>;
	clocks = <&clk_0>;
	clock-frequency = <100000>;
	#address-cells = <1>;
	#size-cells = <0>;
	fifo-size = <32>;
}; //end i2c@0x000010300 (i2c_accelerometer)

Program:

#include <stdio.h>
#include <stdlib.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/i2c.h>
#include <linux/i2c-dev.h>
 
#include <unistd.h>
 
#define I2C_ADAPTER     "/dev/i2c-0"
 
void read_buffer(int fd, unsigned short addr)
{
        struct i2c_rdwr_ioctl_data data;
        struct i2c_msg messages[2];
        unsigned char write_buf[1] = {0x0D}, read_buf[1] = {0x00};
 
        /*
         * .addr - Адрес устройства (датчика)
         * .flags - операция чтения или записи (0 - w, 1 - r)
         * .len - кол-во передаваемых/принимаемых сообщений
         * .buf - буфер на чтение или запись
         */
        messages[0].addr = addr;
        messages[0].flags = 0;
        messages[0].len = 1;
        messages[0].buf = write_buf;
 
        messages[1].addr = addr;
        messages[1].flags = 0x1;
        messages[1].len = 1;
        messages[1].buf = read_buf;
 
        data.msgs = messages;
        data.nmsgs = 2;
 
        ioctl(fd, I2C_TIMEOUT, 2);  // set the timeout
        ioctl(fd, I2C_RETRIES, 4);  // set the retries
 
        if (ioctl(fd, I2C_RDWR, &data) < 0)
        {
                printf("Cant send data!\n");
        }
        else
        {
                printf("ID = 0x%x\n", read_buf[0]);
        }
 
}
 
int main(int argc, char **argv)
{
        int fd;
 
         /*
          * Open I2C file descriptor.
          */
         fd = open(I2C_ADAPTER, O_RDWR);
 
         if (fd < 0) {
                 printf("Unable to open i2c file\n");
                 return 0;
         }
 
         while(1)
         {
         read_buffer(fd, 0x1E);
         sleep(1);
         }
 
         return 0;
 }

I expect to see on i2c bus:

ST-ADDRESS-W-ACK-DATA-ACK-ST-ADDRESS-R-ACK-DATA-ACK-SP

But in reality, I see:

ST-ADDRESS-W-ACK-DATA-ACK-SP-ST-ADDRESS-R-ACK-DATA-ACK-SP

For this reason, reading does not work.

How I can set read/write transaction without stop in between?