How to read data from MPU6050 using SAM4S - c

Question

I'm trying to read information from an MPU6050 sensor using the SAM4S-EK2 dev board, with an ATSAM4SD32C microcontroler, showing the data in the on-board LCD display. However, when I try to read the data, the received value that shows up in the LCD is always the same.
What am I doing wrong?
I'm using Atmel Studio 7 with ASF version 3.32.0
Here is my current code:
#include <asf.h>
#define TWI_CLK 200000
#define ADDRESS 0x68
#define READ 0x3b
#define ILI93XX_LCD_CS 1
twi_options_t opt;
struct ili93xx_opt_t g_ili93xx_display_opt;
void configure_lcd()
{
/** Enable peripheral clock */
pmc_enable_periph_clk(ID_SMC);
/** Configure SMC interface for Lcd */
smc_set_setup_timing(SMC, ILI93XX_LCD_CS, SMC_SETUP_NWE_SETUP(2)
| SMC_SETUP_NCS_WR_SETUP(2)
| SMC_SETUP_NRD_SETUP(2)
| SMC_SETUP_NCS_RD_SETUP(2));
smc_set_pulse_timing(SMC, ILI93XX_LCD_CS, SMC_PULSE_NWE_PULSE(4)
| SMC_PULSE_NCS_WR_PULSE(4)
| SMC_PULSE_NRD_PULSE(10)
| SMC_PULSE_NCS_RD_PULSE(10));
smc_set_cycle_timing(SMC, ILI93XX_LCD_CS, SMC_CYCLE_NWE_CYCLE(10)
| SMC_CYCLE_NRD_CYCLE(22));
smc_set_mode(SMC, ILI93XX_LCD_CS, SMC_MODE_READ_MODE
| SMC_MODE_WRITE_MODE);
/** Initialize display parameter */
g_ili93xx_display_opt.ul_width = ILI93XX_LCD_WIDTH;
g_ili93xx_display_opt.ul_height = ILI93XX_LCD_HEIGHT;
g_ili93xx_display_opt.foreground_color = COLOR_BLACK;
g_ili93xx_display_opt.background_color = COLOR_WHITE;
/** Switch off backlight */
aat31xx_disable_backlight();
/** Initialize LCD */
ili93xx_init(&g_ili93xx_display_opt);
/** Set backlight level */
aat31xx_set_backlight(AAT31XX_AVG_BACKLIGHT_LEVEL);
ili93xx_set_foreground_color(COLOR_WHITE);
ili93xx_draw_filled_rectangle(0, 0, ILI93XX_LCD_WIDTH,
ILI93XX_LCD_HEIGHT);
/** Turn on LCD */
ili93xx_display_on();
ili93xx_set_cursor_position(0, 0);
}
int main (void)
{
sysclk_init();
board_init();
configure_lcd();
pio_configure(PIOB, PIO_PERIPH_B, (PIO_PB5A_TWCK1 | PIO_PB4A_TWD1), PIO_OPENDRAIN);
pmc_enable_periph_clk(ID_TWI1);
opt.master_clk = sysclk_get_peripheral_hz();
opt.speed = TWI_CLK;
twi_enable_master_mode(TWI1);
twi_master_init(TWI1, &opt);
twi_packet_t packet;
uint8_t answer[20];
answer[0]=0x00;
//pacote.addr[0] = 0x6b;
//pacote.addr_length = 1;
//pacote.buffer = &resposta;
//pacote.chip = ENDERECO_SENSOR;
//pacote.length = 1;
//
//if(twi_master_write(TWI1, &pacote) == TWI_SUCCESS)
//{
//ili93xx_set_foreground_color(COLOR_WHITE);
//ili93xx_draw_filled_rectangle(0, 0, 200, 200);
//ili93xx_set_foreground_color(COLOR_BLACK);
//ili93xx_draw_string(0, 0, "Enviou");
//}
while(1)
{
packet.addr[0] = READ;
packet.addr_length = 1;
packet.buffer = &answer;
packet.chip = ADDRESS;
packet.length = 14;
twi_master_read(TWI1, &packet);
char a[20];
int16_t b;
b = (answer[2] << 8 | answer[3]);
sprintf(a,"%i",b);
ili93xx_set_foreground_color(COLOR_WHITE);
ili93xx_draw_filled_rectangle(95, 175, 240, 200);
ili93xx_set_foreground_color(COLOR_BLACK);
ili93xx_draw_string(100, 180, a);
delay_ms(100);
}
}