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Defining slave address is always depends on the slave it self. Some devices have jumpers that you can use to define it, some have default address that can be changed later by sending set command and some devices need to have new software uploaded.
So you need to check your gumstix software how it is done or if you wrote it's software then you can easily define what ever address you want.
All slaves/masters can naturally send/receive data. I2C is a data bus. Master is usually querying slaves for data. So again it really depends on how your gumstix behaves.
If you want to connect let's say Arduino Mini pro to I2C bus. You just define it's address on void setup() function with command
void setup() {
Wire.begin(0x42);
.
.something else...
.
}
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