From 28eeb92f8eec5b8268d2a74ad0561670d14e189a Mon Sep 17 00:00:00 2001
From: Drashna Jaelre
Date: Tue, 11 Nov 2025 04:02:35 -0800
Subject: Add I2C Transmit and Receive function (#25637)

* feat: adds a transmit and receive i2c method

* fix: address the i2c transmit and receive length on u16

* Add AVR/LUFA implementation

Didn't add a progmem version, since that would only apply to receive.
Figured it wasn't worth it, but can add.

* Rearrange order of functions

* Add docs

* Fix doc gen error

* Fix lint issues

* fix more lint issues---
 platforms/avr/drivers/i2c_master.c     | 26 ++++++++++++++++++++++++++
 platforms/chibios/drivers/i2c_master.c |  6 ++++++
 2 files changed, 32 insertions(+)

(limited to 'platforms')

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) {
diff --git a/platforms/chibios/drivers/i2c_master.c b/platforms/chibios/drivers/i2c_master.c
index 20850859b5..a44051b82a 100644
--- a/platforms/chibios/drivers/i2c_master.c
+++ b/platforms/chibios/drivers/i2c_master.c
@@ -160,6 +160,12 @@ i2c_status_t i2c_receive(uint8_t address, uint8_t* data, uint16_t length, uint16
     return i2c_epilogue(status);
 }
 
+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) {
+    i2cStart(&I2C_DRIVER, &i2cconfig);
+    msg_t status = i2cMasterTransmitTimeout(&I2C_DRIVER, (address >> 1), tx_data, tx_length, rx_data, rx_length, TIME_MS2I(timeout));
+    return i2c_epilogue(status);
+}
+
 i2c_status_t i2c_write_register(uint8_t devaddr, uint8_t regaddr, const uint8_t* data, uint16_t length, uint16_t timeout) {
     i2cStart(&I2C_DRIVER, &i2cconfig);
 
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