diff --git a/drivers/i2c_master.h b/drivers/i2c_master.h
index dbe1cd42fa..b36b5ef0df 100644
--- a/drivers/i2c_master.h
+++ b/drivers/i2c_master.h
@@ -42,6 +42,8 @@ void i2c_init(void);
  */
 i2c_status_t i2c_transmit(uint8_t address, const uint8_t* data, uint16_t length, uint16_t timeout);
 
+i2c_status_t i2c_transmit_and_receive(uint8_t address, const uint8_t* tx_data, uint16_t tx_length, uint8_t* rx_data, uint8_t rx_length, uint16_t timeout);
+
 #if defined(__AVR__) || defined(__DOXYGEN__)
 /**
  * \brief Send multiple bytes from PROGMEM to the selected I2C device.
diff --git a/platforms/chibios/drivers/i2c_master.c b/platforms/chibios/drivers/i2c_master.c
index 20850859b5..9f9f6f321e 100644
--- a/platforms/chibios/drivers/i2c_master.c
+++ b/platforms/chibios/drivers/i2c_master.c
@@ -154,6 +154,12 @@ i2c_status_t i2c_transmit(uint8_t address, const uint8_t* data, uint16_t length,
     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, uint8_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_receive(uint8_t address, uint8_t* data, uint16_t length, uint16_t timeout) {
     i2cStart(&I2C_DRIVER, &i2cconfig);
     msg_t status = i2cMasterReceiveTimeout(&I2C_DRIVER, (address >> 1), data, length, TIME_MS2I(timeout));