Wire on Teensy 3.1

void i2cSendStop(void)
{
// transmit stop condition
        TWCR = (1<<TWINT)|(1<<TWEN)|(1<<TWSTO);
}

I have run into some discussions that seem to indicate the AK8975A requires a multiple restart capability unsupported by Wire.h

  if(readByte(AK8975A_ADDRESS, AK8975A_ST1) && 0x01) { // wait for magnetometer data ready bit to be set
//  readBytes(AK8975A_ADDRESS, AK8975A_XOUT_L, 6, &rawData[0]);  // Read the six raw data registers sequentially into data array
  rawData[0] = readByte(AK8975A_ADDRESS, AK8975A_XOUT_L);
  rawData[1] = readByte(AK8975A_ADDRESS, AK8975A_XOUT_H);
  rawData[2] = readByte(AK8975A_ADDRESS, AK8975A_YOUT_L);
  rawData[3] = readByte(AK8975A_ADDRESS, AK8975A_YOUT_H);
  rawData[4] = readByte(AK8975A_ADDRESS, AK8975A_ZOUT_L);
  rawData[5] = readByte(AK8975A_ADDRESS, AK8975A_ZOUT_H);
  destination[0] = (int16_t)((rawData[1] << 8) | rawData[0]) ;  // Turn the MSB and LSB into a signed 16-bit value
  destination[1] = (int16_t)((rawData[3] << 8) | rawData[2]) ;  
  destination[2] = (int16_t)((rawData[5] << 8) | rawData[4]) ;

void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
{
	// Begin transmission at device write address
	Wire.beginTransmission(address);
	Wire.write(subAddress); // Write register to be written to
	Wire.write(data); // Transmit byte to write
	Wire.endTransmission(); // End I2C transmission
}

uint8_t readByte(uint8_t address, uint8_t subAddress)
{
	uint8_t data; // `data` will store the register data
	// Begin I2C transmission using device write address
	Wire.beginTransmission(address); 
	// Write the register to be read:
	Wire.write(subAddress);	
	// End write, but send a restart to keep connection alive:
	Wire.endTransmission(false);
	// Transmit device read address:
	Wire.requestFrom(address, (uint8_t) 1);
	while (Wire.available() < 1) // Wait until data becomes available
		;
	data = Wire.read(); // Read register data into `data` variable
	Wire.endTransmission(); // End I2C transmission

	return data; // Return data from register
}

void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest)
{  
	// Begin I2C transmission and send device address
	Wire.beginTransmission(address);
	// Next send the register to be read. OR with 0x80 to indicate multi-read.
	Wire.write(subAddress | 0x80);
	// End write, but send a restart to keep connection alive:
	Wire.endTransmission(false);
	// Request `count` bytes of data from the device
	Wire.requestFrom(address, count);
	// Wait until the data has been read in
	while (Wire.available() < count)
		;
	// Store all `count` bytes into the given destination array.
	for (int i=0; i<count ;i++)
		dest[i] = Wire.read();
	// End I2C Transmission
	Wire.endTransmission();
}