AVR128DA48 I²C Master Setup

I need concise firmware guidance to turn my AVR128DA48 into a reliable I²C master that can read data from a slave sensor. The exact sensor is not critical at this stage—any I²C-compliant device will do for proving the routine—so the focus is purely on getting the MCU registers, TWI peripheral, and read sequence right.

The project is being built and flashed from Microchip MPLAB X, and I will verify traffic with a logic analyzer. All I’m after is a compact, well-commented code snippet plus a short explanation.

As long as the routine compiles in MPLAB X and I can see correct waveforms and data on the logic analyzer, the job is done. No extra board support or application code is required.

Please note: Experience with AVR128DA48 is must.