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as for multimasters on the i2c bus, all the i2c multimaster code already exists in Atmel (for AVRs) and Microchip (for PICs) application notes so there is very little extra work implementing it.if you want an example, the module template already has this built in.http://www.societyofrobots.com/member_tutorials/node/69that example can do multimaster and communicate over both the UART and i2c.