Merge branch 'develop'

1 files changed, 15 insertions, 0 deletions

diff --git a/drivers/i2c_master.h b/drivers/i2c_master.h
index dbe1cd42fa..5f6094bc81 100644
--- a/drivers/i2c_master.h
+++ b/drivers/i2c_master.h
@@ -73,6 +73,21 @@ i2c_status_t i2c_transmit_P(uint8_t address, const uint8_t* data, uint16_t lengt
 i2c_status_t i2c_receive(uint8_t address, uint8_t* data, uint16_t length, uint16_t timeout);
 
 /**
+ * \brief Send multiple bytes and then receive multiple bytes from the selected I2C device.
+ *
+ * \param address The 7-bit I2C address of the device.
+ * \param tx_data A pointer to the data to transmit.
+ * \param tx_length The number of bytes to write. Take care not to overrun the length of `tx_data`.
+ * \param rx_data A pointer to a buffer to read into.
+ * \param rx_length The number of bytes to read. Take care not to overrun the length of `rx_data`.
+ * \param timeout The time in milliseconds to wait for a response from the target device.
+ *
+ * \return `I2C_STATUS_TIMEOUT` if the timeout period elapses, `I2C_STATUS_ERROR` if some other error occurs, otherwise `I2C_STATUS_SUCCESS`.
+ */
+
+i2c_status_t i2c_transmit_and_receive(uint8_t address, const uint8_t* tx_data, uint16_t tx_length, uint8_t* rx_data, uint16_t rx_length, uint16_t timeout);
+
+/**
  * \brief Write to a register with an 8-bit address on the I2C device.
  *
  * \param devaddr The 7-bit I2C address of the device.