1 files changed, 26 insertions, 0 deletions
diff --git a/platforms/avr/drivers/i2c_master.c b/platforms/avr/drivers/i2c_master.c
index 9136f4a7b9..e5caa995cf 100644
--- a/platforms/avr/drivers/i2c_master.c
+++ b/platforms/avr/drivers/i2c_master.c
@@ -207,6 +207,32 @@ i2c_status_t i2c_receive(uint8_t address, uint8_t* data, uint16_t length, uint16
     return (status < 0) ? status : 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) {
+    i2c_status_t status = i2c_start(address | I2C_ACTION_WRITE, timeout);
+
+    for (uint16_t i = 0; i < tx_length && status >= 0; i++) {
+        status = i2c_write(tx_data[i], timeout);
+    }
+
+    for (uint16_t i = 0; i < (rx_length - 1) && status >= 0; i++) {
+        status = i2c_read_ack(timeout);
+        if (status >= 0) {
+            rx_data[i] = status;
+        }
+    }
+
+    if (status >= 0) {
+        status = i2c_read_nack(timeout);
+        if (status >= 0) {
+            rx_data[(rx_length - 1)] = status;
+        }
+    }
+
+    i2c_stop();
+
+    return status;
+}
+
 i2c_status_t i2c_write_register(uint8_t devaddr, uint8_t regaddr, const uint8_t* data, uint16_t length, uint16_t timeout) {
     i2c_status_t status = i2c_start(devaddr | 0x00, timeout);
     if (status >= 0) {