ISR (TWI_vect)
{
    static uint8_t twi_ptr_Buf;
    switch (TWSR)
      {
        // START or Repeated START has been transmitted
        case TW_START:  case TW_REP_START:       
            twi_ptr_Buf= 0;                     // Set buffer pointer to the TWI Address location
        
        // SLA+W or Data byte has been tramsmitted and ACK received
        case TW_MT_SLA_ACK: case TW_MT_DATA_ACK:      
            
            if (twi_ptr_Buf < twi_msgSize)
          {
                TWDR = twi_Buf[twi_ptr_Buf++];
                TWCR = (1<<TWEN)|                      // TWI Interface enabled
               (1<<TWIE)|(1<<TWINT)|               // Enable TWI Interupt and clear the flag to send byte
               (0<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|    //
               (0<<TWWC);
                      //  
          }
            else                    // Send STOP after last byte
          {
                twi_statusReg.lastTransmitOK = TRUE;   // Set status bits to completed successfully.
                TWCR = (1<<TWEN)|                        // TWI Interface enabled
               (0<<TWIE)|(1<<TWINT)|                  // Disable TWI Interrupt and clear TWINT the flag
               (0<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|    // Initiate a STOP condition.
               (0<<TWWC);                            
          }
      break;
        
        // Data byte has been received and ACK tramsmitted
        case TW_MR_DATA_ACK:      
          twi_Buf[twi_ptr_Buf++] = TWDR;
            // SLA+R has been tramsmitted and ACK received
            case TW_MR_SLA_ACK:      
      
            if (twi_ptr_Buf <(uint8_t) (twi_msgSize-1) )            // Detect the before last byte to NACK it.!!!!
          {
                TWCR = (1<<TWEN)|                             // TWI Interface enabled
               (1<<TWIE)|(1<<TWINT)|                      // Enable TWI Interupt and clear the flag to read next byte
               (1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|           // Send ACK after reception
               (0<<TWWC);
                                                  
          }
            //Send NACK after next reception
            else                    
          {
                TWCR = (1<<TWEN)|                                 // TWI Interface enabled
               (1<<TWIE)|(1<<TWINT)|                      // Enable TWI Interupt and clear the flag to read next byte
               (0<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|           // Send NACK after reception
               (0<<TWWC);
                    
                                 //
          }    
          break;
        
        case TW_MR_DATA_NACK:     // Data byte has been received and NACK transmitted
          
            twi_Buf[twi_ptr_Buf] = TWDR;                    //here will be last byte saved
          twi_statusReg.lastReceiveOK = TRUE;          // Set status bits to completed successfully.
      
            TWCR = (1<<TWEN)|                          // TWI Interface enabled
             (0<<TWIE)|(1<<TWINT)|                  // Disable TWI Interrupt and clear the flag
             (0<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|       // Initiate a STOP condition. TWSTO reset
             (0<<TWWC);
        
            __asm__ volatile("nop");
            __asm__ volatile("nop");

            TWCR = (1<<TWEN)|                          // TWI Interface enabled
             (0<<TWIE)|(0<<TWINT)|                  // Disable TWI Interrupt and clear the flag
             (0<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|       // Initiate a STOP condition. TWSTO reset
             (0<<TWWC);
                                    //
      break;      
        
        case TW_MR_ARB_LOST:          // Arbitration lost
      TWCR = (1<<TWEN)|                                 // TWI Interface enabled
             (1<<TWIE)|(1<<TWINT)|                      // Enable TWI Interupt and clear the flag
             (0<<TWEA)|(1<<TWSTA)|(0<<TWSTO)|           // Initiate a (RE)START condition.
             (0<<TWWC);
                                            //
      break;

        case TW_MT_SLA_NACK:      // SLA+W has been tramsmitted and NACK received
            case TW_MR_SLA_NACK:      // SLA+R has been tramsmitted and NACK received    
                case TW_MT_DATA_NACK:     // Data byte has been tramsmitted and NACK received
                        case TW_NO_INFO:          // No relevant state information available; TWINT = ”0”
                            case TW_BUS_ERROR:        // Bus error due to an illegal START or STOP condition
                                default:    
                            
                                twi_state = TWSR;      // Store TWSR and automatically sets clears noErrors bit.
                                                     // Reset TWI Interface
                          TWCR = (1<<TWEN)|                  // Enable TWI-interface and release TWI pins
                         (0<<TWIE)|(1<<TWINT)|              // Disable Interupt
                         (0<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|   // No Signal requests
                         (0<<TWWC);

                    //delay 100µs
                        _delay_ms (0.1);//100
                            TWCR = (1<<TWEN)|                          // TWI Interface enabled
                     (0<<TWIE)|(0<<TWINT)|                  // Disable TWI Interrupt and clear the flag
                     (0<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|       // Initiate a STOP condition. TWSTO reset
                     (0<<TWWC);
    }                      

}
инt main(void)
{
for(;;)
{

    if( !(TWCR & _BV(TWIE)) )
    {
            //Check if the last opeation was OK
        if(twi_statusReg.lastReceiveOK) // Last transmission competed successfully.
            twi_get_data_message ( );        
    
        twi_start_data_transceiver( ...);
    }        
}

}