AMiRo-OS

/**

 * @brief   Enable flag for the VL53L0X proximity sensor.

 */

#define AMIROLLD_CFG_VL53L0X                1

#define BOARD_SENSORRING                BOARD_DISTANCESENSOR_VL53L0X

VL53L0XDriver moduleLldProximity1 = {

    {

        /* I²C Driver */ &MODULE_HAL_I2C_SR_PM18_PM33_GAUGEREAR,

        /* I²C timeout */ TIME_INFINITE,

        /* VL53L0X_DevData_t */

        {

            /* VL53L0X_DMaxData_t */

            {

                /* AmbTuningWindowFactor_K */ 0,

                /* RetSignalAt0mm */ 0,

            },

            /* Part2PartOffsetNVMMicroMeter */ 0,

            /* Part2PartOffsetAdjustmentNVMMicroMeter */ 0,

            /* VL53L0X_DeviceParameters_t */

            {

                /* VL53L0X_DeviceModes DeviceMode 0 == singleranging*/ 0,

                /* VL53L0X_HistogramModes HistogramMode 0=disable */ 0,

                /* MeasurementTimingBudgetMicroSeconds */ 0,

                /* InterMeasurementPeriodMilliSeconds */ 0,

                /* !! XTalkCompensationEnable */ 0,

                /* XTalkCompensationRangeMilliMeter */ 0,

                /* XTalkCompensationRateMegaCps */ 0,

                /* RangeOffsetMicroMeters */ 0,

                /* !! LimitChecksEnable */ 0,

                /* LimitChecksStatus */ 0,

                /* !! WrapAroundCheckEnable */ 0,

            },

            /* VL53L0X_RangingMeasurementData_t */

            {

                /* TimeStamp */ 0,

                /* MeasurementTimeUsec */ 0,

                /* RangeMilliMeter */ 0,

                /* !! RangeDMaxMilliMeter */ 0,

                /* SignalRateRtnMegaCps */ 0,

                /* AmbientRateRtnMegaCps */ 0,

                /* EffectiveSpadRtnCount */ 0,

                /* ZoneId */ 0,

                /* RangeFractionalPart */ 0,

                /* RangeStatus */ 0,

            },

            /* VL53L0X_HistogramMeasurementData_t */

            {

                /* HistogramData */ 0,

                /* HistogramType */ 0,

                /* FirstBin */ 0,

                /* BufferSize */ 0,

                /* NumberOfBins */ 0,

                /* VL53L0X_DeviceError ErrorStatus 0 == None_error */ 0,

            },

            /* VL53L0X_DeviceSpecificParameters_t */

            {

                /* OscFrequencyMHz */ 0,

                /* LastEncodedTimeout */ 0,

                /* !! VL53L0X_GpioFunctionality Pin0GpioFunctionality 0==no interrupt */ 0,

                /* FinalRangeTimeoutMicroSecs */ 0,

                /* FinalRangeVcselPulsePeriod */ 0,

                /* PreRangeTimeoutMicroSecs */ 0,

                /* PreRangeVcselPulsePeriod */ 0,

                /* SigmaEstRefArray */ 0,

                /* SigmaEstEffPulseWidth */ 0,

                /* SigmaEstEffAmbWidth */ 0,

                /* ReadDataFromDeviceDone 0 == read from device was not done */ 0,

                /* ModuleId */ 0,

                /* Revision */ 0,

                /* ProductId */ "0",

                /* !! ReferenceSpadCount */ 0,

                /* !! ReferenceSpadType */ 0,

                /* RefSpadsInitialised */ 0,

                /* PartUIDUpper */ 0,

                /* PartUIDLower */ 0,

                /* SignalRateMeasFixed400mm */ 0,

            },

            /* VL53L0X_SpadData_t */

            {

                /* RefSpadEnables */ 0,

                /* RefGoodSpadMap */ 0,

            },

            /* SequenceConfig */ 0,

            /* !! RangeFractionalEnable */ 0,

            /* VL53L0X_State PalState */ 0,

            /* !! VL53L0X_PowerModes PowerMode 0==VL53L0X_POWERMODE_STANDBY_LEVEL1 */ 0,

            /* SigmaEstRefArray */ 0,

            /* SigmaEstEffPulseWidth */ 0,

            /* SigmaEstEffAmbWidth */ 0,

            /* StopVariable */ 0,

            /* targetRefRate */ 0,

            /* SigmaEstimate */ 0,

            /* SignalEstimate */0 ,

            /* LastSignalRefMcps */ 0,

            /* *pTuningSettingsPointer */ 0,

            /* UseInternalTuningSettings */ 0,

            /* LinearityCorrectiveGain */ 0,

            /* !! DmaxCalRangeMilliMeter */ 0,

            /* DmaxCalSignalRateRtnMegaCps */ 0,

        },

        /* I²C address */ VL53L0X_LLD_I2C_ADDR,

        /* COMM TYPE*/ 1,

        /* COMM SPEED*/ 1,

    },

};

VL53L0XDriver moduleLldProximity2 = {

    {

        /* I²C Driver */ &MODULE_HAL_I2C_SR_PM42_PM50_PMVDD_EEPROM_GAUGEFRONT,

        /* I²C timeout */ TIME_INFINITE,

        /* VL53L0X_DevData_t */

        {

            /* VL53L0X_DMaxData_t */

            {

                /* AmbTuningWindowFactor_K */ 0,

                /* RetSignalAt0mm */ 0,

            },

            /* Part2PartOffsetNVMMicroMeter */ 0,

            /* Part2PartOffsetAdjustmentNVMMicroMeter */ 0,

            /* VL53L0X_DeviceParameters_t */

            {

                /* VL53L0X_DeviceModes DeviceMode 0 == singleranging*/ 0,

                /* VL53L0X_HistogramModes HistogramMode 0=disable */ 0,

                /* MeasurementTimingBudgetMicroSeconds */ 0,

                /* InterMeasurementPeriodMilliSeconds */ 0,

                /* !! XTalkCompensationEnable */ 0,

                /* XTalkCompensationRangeMilliMeter */ 0,

                /* XTalkCompensationRateMegaCps */ 0,

                /* RangeOffsetMicroMeters */ 0,

                /* !! LimitChecksEnable */ 0,

                /* LimitChecksStatus */ 0,

                /* !! WrapAroundCheckEnable */ 0,

            },

            /* VL53L0X_RangingMeasurementData_t */

            {

                /* TimeStamp */ 0,

                /* MeasurementTimeUsec */ 0,

                /* RangeMilliMeter */ 0,

                /* !! RangeDMaxMilliMeter */ 0,

                /* SignalRateRtnMegaCps */ 0,

                /* AmbientRateRtnMegaCps */ 0,

                /* EffectiveSpadRtnCount */ 0,

                /* ZoneId */ 0,

                /* RangeFractionalPart */ 0,

                /* RangeStatus */ 0,

            },

            /* VL53L0X_HistogramMeasurementData_t */

            {

                /* HistogramData */ 0,

                /* HistogramType */ 0,

                /* FirstBin */ 0,

                /* BufferSize */ 0,

                /* NumberOfBins */ 0,

                /* VL53L0X_DeviceError ErrorStatus 0 == None_error */ 0,

            },

            /* VL53L0X_DeviceSpecificParameters_t */

            {

                /* OscFrequencyMHz */ 0,

                /* LastEncodedTimeout */ 0,

                /* !! VL53L0X_GpioFunctionality Pin0GpioFunctionality 0==no interrupt */ 0,

                /* FinalRangeTimeoutMicroSecs */ 0,

                /* FinalRangeVcselPulsePeriod */ 0,

                /* PreRangeTimeoutMicroSecs */ 0,

                /* PreRangeVcselPulsePeriod */ 0,

                /* SigmaEstRefArray */ 0,

                /* SigmaEstEffPulseWidth */ 0,

                /* SigmaEstEffAmbWidth */ 0,

                /* ReadDataFromDeviceDone 0 == read from device was not done */ 0,

                /* ModuleId */ 0,

                /* Revision */ 0,

                /* ProductId */ "0",

                /* !! ReferenceSpadCount */ 0,

                /* !! ReferenceSpadType */ 0,

                /* RefSpadsInitialised */ 0,

                /* PartUIDUpper */ 0,

                /* PartUIDLower */ 0,

                /* SignalRateMeasFixed400mm */ 0,

            },

            /* VL53L0X_SpadData_t */

            {

                /* RefSpadEnables */ 0,

                /* RefGoodSpadMap */ 0,

            },

            /* SequenceConfig */ 0,

            /* !! RangeFractionalEnable */ 0,

            /* VL53L0X_State PalState */ 0,

            /* !! VL53L0X_PowerModes PowerMode 0==VL53L0X_POWERMODE_STANDBY_LEVEL1 */ 0,

            /* SigmaEstRefArray */ 0,

            /* SigmaEstEffPulseWidth */ 0,

            /* SigmaEstEffAmbWidth */ 0,

            /* StopVariable */ 0,

            /* targetRefRate */ 0,

            /* SigmaEstimate */ 0,

            /* SignalEstimate */0 ,

            /* LastSignalRefMcps */ 0,

            /* *pTuningSettingsPointer */ 0,

            /* UseInternalTuningSettings */ 0,

            /* LinearityCorrectiveGain */ 0,

            /* !! DmaxCalRangeMilliMeter */ 0,

            /* DmaxCalSignalRateRtnMegaCps */ 0,

        },

        /* I²C address */ VL53L0X_LLD_I2C_ADDR,

        /* COMM TYPE*/ 1,

        /* COMM SPEED*/ 1,

    },

};

/* VL53L0X (proximity sensor) */

static int _utShellCmdCb_AlldVL53L0X(BaseSequentialStream* stream, int argc, char* argv[])

{

    // first GPIO-Extender (the first 4 areas)

    PCAL6524Driver* mux1 = NULL;

    // second GPRO-Extender (the last 4 areas)

    PCAL6524Driver* mux2 = NULL;

    uint32_t status;

    uint8_t buffer[2];

    mux1 = &moduleLldGpioExtender1;

    mux2 = &moduleLldGpioExtender2;

    // set the XHUT Pins (P0_0 ... P0_7 P1_0 ... P1_3 ) from first GPIO-Extender to LOW (Pull-down)

    // first set Pull-up/pull-down enable register port to 1

    status = pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDENABLE_P0, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

    // second set Pull-up/pull-down selection register for all XSHUT to pull-down (write a 0 in every bitmask)

    status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P0, 0x00, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

    // first 4 register are XSHUT, last 4 are Interrupt, all need pull-up/pull-down

    status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDENABLE_P1,0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

    // XSHUT need pull-down and Interrupt need pull-up 11110000

    // 0xF0

    status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P1, 0x00, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

    //set the interrupt register to input, write a 1 to configuration port registers (0Ch, 0Dh, 0Eh)

    status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INPUT_P1, 0xF0, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

    // all Interrupt register need pull-up/pull-down

    status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDENABLE_P2, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

    // all interrupt register need Pull-up (set to 1)

    //0xFF == 11111111, we set all interrupt register to 00000000 == pull-down and only the register we need is pulled up

    status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P2, 0x00, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

    //set the interrupt register to input, write a 1 to configuration port registers (0Ch, 0Dh, 0Eh)

    status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INPUT_P2, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

    // set the XHUT Pins (P0_0 ... P0_7 P1_0 ... P1_3 ) from second GPIO-Extender to LOW

    // same as first GPIO-Extender

    status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDENABLE_P0, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

    status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P0, 0x00, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

    status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDENABLE_P1,0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

    status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P1, 0x00, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

    status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INPUT_P1, 0xF0, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

    status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDENABLE_P2, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

    status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P2, 0x00, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

    status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INPUT_P2, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

    //set one sensor to active

    /*only bus moduleLldGpioExtender1

                A            GP

            S1  S2  S3 | S4  S5  S6 | S7  S8  S9 | S10 S11 S12|

    GPIO

    XSHUT   1.3 1.2 1.1| 1.0 0.7 0.6| 0.5 0.4 0.3| 0.2 0.1 0.0|

    INTER   2.7 2.6 2.5| 2.4 2.3 2.2| 2.1 2.0 1.7| 1.6 1.5 1.4|

    OPTION

    #       11  12  13 | 14  15  16 | 17  18  19 | 110 111 112|

    A == Anschluss

    GP == GPIO Extender

      */

  if (argc == 2) {

      if (strcmp(argv[1], "#11") == 0) {

          buffer[0] = 0x8; // == P1.3 => Interrupt 2.7

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P2, 0x80, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M2.7 == 01111111

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0x7F, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE2.7 with falling edge (from HIGH to LOW) == 10 00 00 00on adress 64h

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x80, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender1;

      } else if (strcmp(argv[1], "#12") == 0) {

          buffer[0] = 0x4; // PUD1.2 with interrupt P2_6

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0x20, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register  M2.6 == 0xBF == 10111111

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xBF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE2.6 with falling edge (from HIGH to LOW) == 00100000

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x20, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender1;

      } else if (strcmp(argv[1], "#13") == 0) {

          buffer[0] = 0x2; // PUD1.1 with Interrupt P2_5

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0x10, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register  M2.5 == 0xDF == 11011111

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xBF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE2.5 with falling edge (from HIGH to LOW) == 0x8 == 00001000

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x8, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender1;

      } else if (strcmp(argv[1], "#14") == 0) {

          buffer[0] = 0x1; // PUD1.0 with Interrupt P2_4

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0x8, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register  M2.4 == 0xEF == 11101111

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xEF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE2.4 with falling edge (from HIGH to LOW) == 0x8 == 00000010

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x2, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender1;

      } else if (strcmp(argv[1], "#15") == 0) {

          buffer[0] = 0x80; // PUD0.7 with interrupt P2.3

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register (set to 1) == 00001000

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P2, 0x8, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M2.3 == 11110111

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xF7, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE2.2 with falling edge (from HIGH to LOW) == 10000000 on adress 64h

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A, 0x80, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender1;

      } else if (strcmp(argv[1], "#16") == 0) {

          buffer[0] = 0x40; // PUD0.6 with interrupt P2.2

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register (set to 1) == 00000100

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P2, 0x4, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M2.2 == 11111011

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xFB, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE2.2 with falling edge (from HIGH to LOW) == 00100000 on adress 64h

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A, 0x20, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender1;

      } else if (strcmp(argv[1], "#17") == 0) {

          buffer[0] = 0x20; // PUD0.5 wirh interrupt P2.1

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register (set to 1) == 00000010

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P2, 0x2, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M2.1 == 11111101

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xFD, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE2.1 with falling edge (from HIGH to LOW) == 00001000 on adress 64h

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A, 0x8, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender1;

      } else if (strcmp(argv[1], "#18") == 0) {

          buffer[0] = 0x10; // PUD0.4 with interrupt P2.0

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register (set to 1) == 00000001

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P2, 0x1, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M2.0 == 11111110

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xFE, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE1.5 with falling edge (from HIGH to LOW) == 00000010 on adress 64h

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A, 0x2, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender1;

      } else if (strcmp(argv[1], "#19") == 0) {

          buffer[0] = 0x8; // PUD0.3 with interrupt P1_7

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register (set to 1) == 10000000

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P1, 0x80, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M1.7 == 01111111

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P1, 0x7F, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE1.5 with falling edge (from HIGH to LOW) == 10000000 on adress 63h

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x80, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender1;

      } else if (strcmp(argv[1], "#110") == 0) {

          buffer[0] = 0x4; //PUD0.2 with interrupt P1_6

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register (set to 1) == 01000000

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P1, 0x40, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M1.6 == 10111111

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P1, 0xBF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE1.5 with falling edge (from HIGH to LOW) == 00100000 on adress 63h

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x20, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender1;

      } else if (strcmp(argv[1], "#111") == 0) {

          buffer[0] = 0x2; // PUD0.1 with interrupt P1_5

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register (set to 1) == 00100000

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P1, 0x20, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M1.5 == 11011111

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P1, 0xDF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE1.5 with falling edge (from HIGH to LOW) == 00001000 on adress 63h

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x8, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender1;

      } else if (strcmp(argv[1], "#112") == 0) {

          buffer[0] = 0x1; // PUD0.0 with interrupt P1_4

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register (set to 1) == 00010000

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P1, 0x10, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M1.4 == 11101111

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P1, 0xEF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE1.4 with falling edge (from HIGH to LOW) == 00 00 00 10 on adress 63h

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x2, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender1;

      } else if (strcmp(argv[1], "#21") == 0) {

          buffer[0] = 0x8; // == P1.3 => Interrupt 2.7

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P2, 0x80, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M2.7 == 01111111

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0x7F, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE2.7 with falling edge (from HIGH to LOW) == 10 00 00 00on adress 64h

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x80, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender2;

      } else if (strcmp(argv[1], "#22") == 0) {

          buffer[0] = 0x4; // PUD1.2 with interrupt P2_6

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0x20, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register  M2.6 == 0xBF == 10111111

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xBF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE2.6 with falling edge (from HIGH to LOW) == 00100000

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x20, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender2;

      } else if (strcmp(argv[1], "#23") == 0) {

          buffer[0] = 0x2; // PUD1.1 with Interrupt P2_5

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0x10, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register  M2.5 == 0xDF == 11011111

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xBF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE2.5 with falling edge (from HIGH to LOW) == 0x8 == 00001000

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x8, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender2;

      } else if (strcmp(argv[1], "#24") == 0) {

          buffer[0] = 0x1; // PUD1.0 with Interrupt P2_4

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0x8, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register  M2.4 == 0xEF == 11101111

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xEF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE2.4 with falling edge (from HIGH to LOW) == 0x8 == 00000010

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x2, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender2;

      } else if (strcmp(argv[1], "#25") == 0) {

          buffer[0] = 0x80; // PUD0.7 with interrupt P2.3

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register (set to 1) == 00001000

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P2, 0x8, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M2.3 == 11110111

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xF7, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE2.2 with falling edge (from HIGH to LOW) == 10000000 on adress 64h

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A, 0x80, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender2;

      } else if (strcmp(argv[1], "#26") == 0) {

          buffer[0] = 0x40; // PUD0.6 with interrupt P2.2

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register (set to 1) == 00000100

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P2, 0x4, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M2.2 == 11111011

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xFB, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE2.2 with falling edge (from HIGH to LOW) == 00100000 on adress 64h

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A, 0x20, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender2;

      } else if (strcmp(argv[1], "#27") == 0) {

          buffer[0] = 0x20; // PUD0.5 wirh interrupt P2.1

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register (set to 1) == 00000010

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P2, 0x2, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M2.1 == 11111101

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xFD, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE2.1 with falling edge (from HIGH to LOW) == 00001000 on adress 64h

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A, 0x8, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender2;

      } else if (strcmp(argv[1], "#28") == 0) {

          buffer[0] = 0x10; // PUD0.4 with interrupt P2.0

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register (set to 1) == 00000001

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P2, 0x1, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M2.0 == 11111110

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xFE, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE1.5 with falling edge (from HIGH to LOW) == 00000010 on adress 64h

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A, 0x2, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender2;

      } else if (strcmp(argv[1], "#29") == 0) {

          buffer[0] = 0x8; // PUD0.3 with interrupt P1_7

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register (set to 1) == 10000000

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P1, 0x80, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M1.7 == 01111111

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P1, 0x7F, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE1.5 with falling edge (from HIGH to LOW) == 10000000 on adress 63h

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x80, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender2;

      } else if (strcmp(argv[1], "#210") == 0) {

          buffer[0] = 0x4; //PUD0.2 with interrupt P1_6

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register (set to 1) == 01000000

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P1, 0x40, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M1.6 == 10111111

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P1, 0xBF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE1.5 with falling edge (from HIGH to LOW) == 00100000 on adress 63h

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x20, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender2;

      } else if (strcmp(argv[1], "#211") == 0) {

          buffer[0] = 0x2; // PUD0.1 with interrupt P1_5

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register (set to 1) == 00100000

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P1, 0x20, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M1.5 == 11011111

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P1, 0xDF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE1.5 with falling edge (from HIGH to LOW) == 00001000 on adress 63h

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x8, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender2;

      } else if (strcmp(argv[1], "#212") == 0) {

          buffer[0] = 0x1; // PUD0.0 with interrupt P1_4

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register (set to 1) == 00010000

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P1, 0x10, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M1.4 == 11101111

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P1, 0xEF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE1.4 with falling edge (from HIGH to LOW) == 00 00 00 10 on adress 63h

          status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x2, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender2;

      } else{

          //use first sensor

          chprintf(stream, "unknown argument, use first sensor\n");

          usleep(2000000);

          buffer[0] = 0x8; // == P1.3 => Interrupt 2.7

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // enable pull-up for the one used interrupt register

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P2, 0x80, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // only one pin is set to 0 as interrupt mask register => M2.7 == 01111111

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0x7F, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          // interrupt edge register IE2.7 with falling edge (from HIGH to LOW) == 10 00 00 00on adress 64h

          status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x80, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;

          //set GPIO extender

          ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender1;

      }

      (void)argc;

      (void)argv;

      //wait 60 ms for boottime from sensor

      usleep(60000);

      aosUtRun(stream, &moduleUtAlldVl53l0x, "VL53");

      ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = NULL;

      ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = NULL;

      return AOS_OK;

  }else{

  // print help

  chprintf(stream, "Usage: %s OPTION\n", argv[0]);

  chprintf(stream, "Options:\n");

  chprintf(stream, "  #11\n");

  chprintf(stream, "    Test the first VL53L0X sensor on the I2C bus #1.\n");

  chprintf(stream, "  #12\n");

  chprintf(stream, "    Test the second VL53L0X sensor on the I2C bus #1.\n");

  chprintf(stream, "  ... #112\n");

  chprintf(stream, "    Test the 12 VL53L0X sensor on the I2C bus #1.\n");

  chprintf(stream, "  #21\n");

  chprintf(stream, "    Test the first VL53L0X sensor on the I2C bus #2.\n");

  chprintf(stream, "  ... #212\n");

  chprintf(stream, "    Test the 12 VL53L0X sensor on the I2C bus #2.\n");

  return AOS_INVALIDARGUMENTS;

  }

  // belegung der Hols beim Sensor:

  //                    obster/rechter: interrupt, XSHUT, GND

  //                    mittlerer:      GND, interrupt, XSHUT, GND

  //                    Unterster/linker:GND, interrupt, XSHUT

  // set the XHUT Pins (P0_0 ... P0_7 P1_0 ... P1_3 ) from first GPIO-Extender to LOW

  //    -> first: Der pin, der auf XSHUT weißt ist ein Output !

  //    -> second: setze alle Sensoren unter reset == Der Pin erhält eine Spannung unter 1 Volt

  //    -> third: setze einen Pin auf High (Spannung groesser 2 Volt) und dann kann man die Adresse

  //                ansprechen.

}

static ut_vl53l0xdata_t _utAlldVL53L0XData = {

  /* driver       */ NULL,

  /* timeout      */ MICROSECONDS_PER_SECOND,

  /* event source */ &aos.events.io,

  /* event flags  */ 0,

  /* gpio */ NULL,

};

aos_unittest_t moduleUtAlldVl53l0x = {

  /* name           */ "VL53L0X",

  /* info           */ "proximity sensor",

  /* test function  */ utAlldVL53L0XFunc,

  /* shell command  */ {

    /* name     */ "unittest:Proximity",

    /* callback */ _utShellCmdCb_AlldVL53L0X,

    /* next     */ NULL,

  },

  /* data           */ &_utAlldVL53L0XData,

};

    aosShellAddCommand(&aos.shell, &moduleUtAlldVl53l0x.shellcmd);            \

    moduleHalI2cSrPm18Pm33GaugeRearConfig.clock_speed = (VL53L0X_LLD_I2C_MAXFREQUENCY < moduleHalI2cSrPm18Pm33GaugeRearConfig.clock_speed) ? VL53L0X_LLD_I2C_MAXFREQUENCY : moduleHalI2cSrPm18Pm33GaugeRearConfig.clock_speed;  \

    moduleHalI2cSrPm42Pm50PmVddEepromGaugeFrontConfig.clock_speed = (VL53L0X_LLD_I2C_MAXFREQUENCY < moduleHalI2cSrPm42Pm50PmVddEepromGaugeFrontConfig.clock_speed) ? VL53L0X_LLD_I2C_MAXFREQUENCY : moduleHalI2cSrPm42Pm50PmVddEepromGaugeFrontConfig.clock_speed; \

#include <alld_VL53L0X.h>

/**

 * @brief   Proximity sensor (I2C #1) driver.

 */

extern VL53L0XDriver moduleLldProximity1;

/**

 * @brief   Proximity sensor (I2C #2) driver.

 */

extern VL53L0XDriver moduleLldProximity2;

#include <ut_alld_VL53L0X_v1.h>

/**

 * @brief   VL53L0X (proximity sensor) unit test object.

 */

extern aos_unittest_t moduleUtAlldVl53l0x;

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef AMIROOS_UT_ALLD_VL53L0X_V1_H

#define AMIROOS_UT_ALLD_VL53L0X_V1_H

#include <amiroos.h>

#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_VL53L0X) && (AMIROLLD_CFG_VL53L0X == 1)) || defined(__DOXYGEN__)

#include <alld_VL53L0X.h>

/******************************************************************************/

/* CONSTANTS                                                                  */

/******************************************************************************/

/******************************************************************************/

/* SETTINGS                                                                   */

/******************************************************************************/

/******************************************************************************/

/* CHECKS                                                                     */

/******************************************************************************/

/******************************************************************************/

/* DATA STRUCTURES AND TYPES                                                  */

/******************************************************************************/

/**

 * @brief   Custom data structure for the unit test.

 */

typedef struct {

  /**

   * @brief   VL53L0X driver to use.

   */

  VL53L0XDriver *vl53d;

  /**

   * @brief   Timeout for certain tests.

   */

  apalTime_t timeout;

  /**

   * @brief   Event source to listen to.

   */

  event_source_t* evtsource;

  /**

   * @brief   Event flags to watch.

   */

  eventflags_t evtflags;

 /**

  * @brief GPIO PCAL6524 driver to get interrupts.

  */

  PCAL6524Driver *gpio;

} ut_vl53l0xdata_t;

/******************************************************************************/

/* MACROS                                                                     */

/******************************************************************************/

/******************************************************************************/

/* EXTERN DECLARATIONS                                                        */

/******************************************************************************/

#ifdef __cplusplus

extern "C" {

#endif

  aos_utresult_t utAlldVL53L0XFunc(BaseSequentialStream* stream, aos_unittest_t* ut);

#ifdef __cplusplus

}

#endif

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_VL53L0X) */

#endif /* _AMIROOS_UT_VL53L0X_LLD_HPP_ */

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#include <amiroos.h>

#include <ut_alld_VL53L0X_v1.h>

#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_VL53L0X) && (AMIROLLD_CFG_VL53L0X == 1)) || defined(__DOXYGEN__)

/******************************************************************************/

/* LOCAL DEFINITIONS                                                          */

/******************************************************************************/

#define INTERRUPT_EVENT_ID            1

/******************************************************************************/

/* EXPORTED VARIABLES                                                         */

/******************************************************************************/

/******************************************************************************/

/* LOCAL TYPES                                                                */

/******************************************************************************/

/******************************************************************************/

/* LOCAL VARIABLES                                                            */

/******************************************************************************/

/******************************************************************************/

/* LOCAL FUNCTIONS                                                            */

/******************************************************************************/

/******************************************************************************/

/* EXPORTED FUNCTIONS                                                         */

/******************************************************************************/

/**

 * @brief utAlldVL53L0XFunc

 * @param stream

 * @param ut

 * @return

 *

 *

 * debug:

 *  chprintf(stream, "timeout %lu\n", MyDevice.timeout); or chprintf((BaseSequentialStream*)&SD1, "%s: %d\n", __FILE__, __LINE__);

 *  aosThdMSleep(100);

 *

 *

 */

aos_utresult_t utAlldVL53L0XFunc(BaseSequentialStream* stream, aos_unittest_t* ut)

{

  // Check if the different things are here from the module.c

  aosDbgCheck((ut->data != NULL) &&

                (((ut_vl53l0xdata_t*)(ut->data))->vl53d != NULL) && (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd != NULL);

  // local variables

  aos_utresult_t result = {0, 0};

  uint32_t status = APAL_STATUS_OK;

  uint8_t reg_buf[4] = {0,0,0,0};

  uint8_t* reg_8 = (uint8_t*)(reg_buf);

  uint16_t* reg_16 = (uint16_t*)(reg_buf);

  event_listener_t event_listener;

  aos_timestamp_t tcurrent, tend;

  VL53L0X_DeviceModes deviceMode;

  VL53L0X_GpioFunctionality pFunctionality;

  VL53L0X_InterruptPolarity pPolarity;

  uint8_t pMeasurementDataReady=0;

  VL53L0X_RangingMeasurementData_t    RangingMeasurementData;

  VL53L0X_RangingMeasurementData_t   *pRangingMeasurementData    = &RangingMeasurementData;

  uint32_t ThresholdLow;

  uint32_t ThresholdHigh;

  uint8_t buffer[24];

  memset(buffer, 0xAA, sizeof(buffer));

  chprintf(stream, "validate I2C bus...\n");

  // check I2C communication after fresh reset, without API loaded (before VL53L0X_DataInit() is called)

  //validate I2C bus on 0xC0 0xEE

  status = VL53L0X_read_multi((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr , 0xc0, &reg_8[0], 1, (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout );

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0xEE) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]);

  }

  //validate I2C bus on 0xC1 0xAA

  status = VL53L0X_read_multi((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr , 0xc1, &reg_8[0], 1, (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout );

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0xAA) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]);

  }

  //validate I2C bus on 0xC2 0x10

  status = VL53L0X_read_multi((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr , 0xc2, &reg_8[0], 1, (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout );

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0x10) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]);

  }

  //validate I2C bus on  0x51 0x0099

  status = VL53L0X_read_multi((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr , 0x51, &reg_8[0], 2, (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout );

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0x00 && reg_8[1]==0x99) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]);

  }

  //validate I2C bus on  0x61 0x0000

  status = VL53L0X_read_multi((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr , 0x61, &reg_8[0], 2, (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout );

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0x00 && reg_8[1]==0x00) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]);

  }

  chprintf(stream, "reading register...\n");

  //read register 0x88 register has status 0x24

  status = VL53L0X_read_multi((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr , 0x88, &reg_8[0], 1, (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout );

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0x24) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]);

  }

  chprintf(stream, "writing register...\n");

  //VL53L0X_WrByte(Dev, 0x88, 0x00);

  uint8_t tx_buf = 0x00;

  //status = VL53L0X_write_multi((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr, 0x88, (uint8_t*)&tx_buf, 1 ,(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout );

  status = VL53L0X_write_byte((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr, 0x88, tx_buf,(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout );

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]);

  }

  //read register 0x88

  status = VL53L0X_read_multi((((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.i2cd, (apalI2Caddr_t)(((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.I2cDevAddr , 0x88, &reg_8[0], 1, (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.timeout );

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && reg_8[0]==0x00) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]);

  }

  chprintf(stream, "init sensor data...\n");

  status = vl53l0x_lld_init(((ut_vl53l0xdata_t*)(ut->data))->vl53d);

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "set single mode...\n");

  status = vl53l0x_lld_set_mode(((ut_vl53l0xdata_t*)(ut->data))->vl53d, VL53L0X_DEVICEMODE_SINGLE_RANGING,

                                VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED,0,0);

  status |= VL53L0X_GetDeviceMode(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev), &deviceMode);

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && deviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X; %u\n", status, deviceMode);

  }

  chprintf(stream, "reading results...\n");

  status = vl53l0x_lld_perform_mesaurement(((ut_vl53l0xdata_t*)(ut->data))->vl53d, &reg_16[0]);

  chprintf(stream, "\t\tdistance : %u\n", reg_16[0]);

  int i = 0;

  for (i = 0; i<4; i++){

      status |= vl53l0x_lld_perform_mesaurement(((ut_vl53l0xdata_t*)(ut->data))->vl53d, &reg_16[0]);

      chprintf(stream, "\t\tdistance : %u\n", reg_16[0]);

  }

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  chprintf(stream, "setting new address...\n");

  status = vl53l0x_lld_set_address(((ut_vl53l0xdata_t*)(ut->data))->vl53d, 0x49);

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X\n", status);

  }

  //-----------------------------------------------------------------------

  chprintf(stream, "reading with interrupt ...\n");

  chprintf(stream, "\tgeneral information: eventmask VL53L0X: %lu and eventflag VL53L0X: %lu \n",

           EVENT_MASK(INTERRUPT_EVENT_ID), ((ut_vl53l0xdata_t*)(ut->data))->evtflags);

  chprintf(stream, "set single mode and interrupt to VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY ...\n");

  status = vl53l0x_lld_set_mode(((ut_vl53l0xdata_t*)(ut->data))->vl53d, VL53L0X_DEVICEMODE_SINGLE_RANGING,

                                VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,0,0);

  /*

  same as

  status |= VL53L0X_SetDeviceMode(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev), VL53L0X_DEVICEMODE_SINGLE_RANGING);

  status |= VL53L0X_SetGpioConfig(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev), 0, VL53L0X_DEVICEMODE_SINGLE_RANGING,

                                 VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY, VL53L0X_INTERRUPTPOLARITY_LOW);

*/

  status |= VL53L0X_GetGpioConfig(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev), 0, &deviceMode, &pFunctionality, &pPolarity);

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && deviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING &&

          pFunctionality == VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY && pPolarity == VL53L0X_INTERRUPTPOLARITY_LOW) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X; mode:%u; Interrupt:%u; InterruptPolarity: %u\n", status, deviceMode, pFunctionality, pPolarity);

  }

  chprintf(stream, "check for blocking interrupts...\n");

  status = vl53l0x_lld_CheckRangingDataReady(((ut_vl53l0xdata_t*)(ut->data))->vl53d, &pMeasurementDataReady);

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && pMeasurementDataReady == 0) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X, there are blocking interrupts :%u\n", status, pMeasurementDataReady);

    chprintf(stream, "clear blocking interrupts...\n");

    status = vl53l0x_lld_getRangingData(((ut_vl53l0xdata_t*)(ut->data))->vl53d, pRangingMeasurementData);

    if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {

      aosUtPassed(stream, &result);

    } else {

      aosUtFailedMsg(stream, &result, "0x%08X;\n", status);

    }

  }

  chprintf(stream, "start maeasurement ... \n");

  //set everything for eventshandler

  chEvtRegister(((ut_vl53l0xdata_t*)(ut->data))->evtsource, &event_listener, INTERRUPT_EVENT_ID);

  aosSysGetUptime(&tend);

  tend += 2 * MICROSECONDS_PER_SECOND;

  status = vl53l0x_lld_start_measurement(((ut_vl53l0xdata_t*)(ut->data))->vl53d);

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X;\n", status);

  }

  do {

    // read proximity data, interrupt event information and interrupt status

    const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(10*MICROSECONDS_PER_MILLISECOND));

    const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);

    if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) &&

        eflags == ((ut_vl53l0xdata_t*)(ut->data))->evtflags) {

      // true positive (correct case)

      chprintf(stream, "EVENT\n");

      status |= VL53L0X_GetRangingMeasurementData(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev), pRangingMeasurementData);

      chprintf(stream, "\t\tinterrupt detected: prox = %i\n", RangingMeasurementData.RangeMilliMeter);

      status |= VL53L0X_ClearInterruptMask(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev),

                                           VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH);

    }else if (eflags == ((ut_vl53l0xdata_t*)(ut->data))->evtflags){

        chprintf(stream, "mask: %lu\n", emask);

        chprintf(stream, "flag: %lu\n", eflags);

    }else if (emask == EVENT_MASK(INTERRUPT_EVENT_ID)){

        chprintf(stream, "first::mask: %lu and flag: %lu\n", emask, eflags);

        // read from GPIO

        status |= pcal6524_lld_read_group(((ut_vl53l0xdata_t*)ut->data)->gpio, PCAL6524_LLD_CMD_INPUT_P0, buffer,

                                        ((ut_vl53l0xdata_t*)ut->data)->timeout);

        status |= vl53l0x_lld_CheckRangingDataReady(((ut_vl53l0xdata_t*)(ut->data))->vl53d, &pMeasurementDataReady);

        if ((pMeasurementDataReady == 0x01)) {

            chprintf(stream, "\t\tRead input: 0x%04X 0x%04X 0x%04X\t",

                     (((uint16_t)buffer[0]) << 8) | buffer[1],

                     (((uint16_t)buffer[2]) << 8) | buffer[3],

                     (((uint16_t)buffer[4]) << 8) | buffer[5]);

            //get the measurement from VL53L0X

            status |= vl53l0x_lld_getRangingData(((ut_vl53l0xdata_t*)(ut->data))->vl53d, pRangingMeasurementData);

            chprintf(stream, "distance: %i\n", RangingMeasurementData.RangeMilliMeter);

        }

    }

    aosSysGetUptime(&tcurrent);

  } while (tcurrent < tend);

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, pRangingMeasurementData);

  }

  chprintf(stream, "stop maeasurement ... \n");

  status = vl53l0x_lld_stop_measurement(((ut_vl53l0xdata_t*)(ut->data))->vl53d);

  chEvtUnregister(((ut_vl53l0xdata_t*)(ut->data))->evtsource, &event_listener);

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X;\n", status);

  }

//-----------------------------------------------------

  chprintf(stream, "set continuous mode and interrupt to VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW (80mm/150mm) ...\n");

  // wand a threshold of 80

  // 100 mm < max Threshold von 254 mm

  ThresholdHigh = 150;

  ThresholdLow = 80;

  status = vl53l0x_lld_set_mode(((ut_vl53l0xdata_t*)(ut->data))->vl53d, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,

                                VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW,ThresholdLow,ThresholdHigh);

  status |= VL53L0X_GetGpioConfig(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev), 0, &deviceMode, &pFunctionality, &pPolarity);

  status |= VL53L0X_GetInterruptThresholds(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev),

      VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,

      &ThresholdLow, &ThresholdHigh);

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && deviceMode == VL53L0X_DEVICEMODE_CONTINUOUS_RANGING &&

          pFunctionality == VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW && pPolarity == VL53L0X_INTERRUPTPOLARITY_LOW){

          //&& ThresholdLow == 80 * 65536 && ThresholdHigh == 150 * 65536) { not possible, only strange wrong values, e.g. Threshold low:1431655765;Threshold high:0

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X; mode:%u; Interrupt:%u; InterruptPolarity:%u; Threshold low:%lu"

                                    ";Threshold high:%lu\n", status, deviceMode, pFunctionality, pPolarity, ThresholdLow/65536.0, ThresholdHigh/65536.0);

  }

  chprintf(stream, "check for blocking interrupts...\n");

  status = vl53l0x_lld_CheckRangingDataReady(((ut_vl53l0xdata_t*)(ut->data))->vl53d, &pMeasurementDataReady);

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && pMeasurementDataReady == 0) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X, there are blocking interrupts :%u\n", status, pMeasurementDataReady);

    chprintf(stream, "clear blocking interrupts...\n");

    status = vl53l0x_lld_getRangingData(((ut_vl53l0xdata_t*)(ut->data))->vl53d, pRangingMeasurementData);

    if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {

      aosUtPassed(stream, &result);

    } else {

      aosUtFailedMsg(stream, &result, "0x%08X;\n", status);

    }

  }

  chprintf(stream, "start maeasurement ... \n");

  //set everything for eventshandler

  chEvtRegister(((ut_vl53l0xdata_t*)(ut->data))->evtsource, &event_listener, INTERRUPT_EVENT_ID);

  aosSysGetUptime(&tend);

  tend += 10 * MICROSECONDS_PER_SECOND;

  status = vl53l0x_lld_start_measurement(((ut_vl53l0xdata_t*)(ut->data))->vl53d);

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X;\n", status);

  }

  do {

    // read proximity data, interrupt event information and interrupt status

    const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(10*MICROSECONDS_PER_MILLISECOND));

    const eventflags_t eflags = chEvtGetAndClearFlags(&event_listener);

    if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) &&

        eflags == ((ut_vl53l0xdata_t*)(ut->data))->evtflags) {

      // true positive (correct case)

      chprintf(stream, "EVENT\n");

      status |= VL53L0X_GetRangingMeasurementData(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev), pRangingMeasurementData);

      chprintf(stream, "\t\tinterrupt detected: prox = %i\n", RangingMeasurementData.RangeMilliMeter);

      status |= VL53L0X_ClearInterruptMask(&(((ut_vl53l0xdata_t*)(ut->data))->vl53d->vl53l0x_dev),0);

    }else if (eflags == ((ut_vl53l0xdata_t*)(ut->data))->evtflags){

        chprintf(stream, "mask: %lu\n", emask);

        chprintf(stream, "flag: %lu\n", eflags);

    }else if (emask == EVENT_MASK(INTERRUPT_EVENT_ID)){

        chprintf(stream, "last::mask: %lu and flag: %lu\n", emask, eflags);

        // read from GPIO

        status |= pcal6524_lld_read_group(((ut_vl53l0xdata_t*)ut->data)->gpio, PCAL6524_LLD_CMD_INPUT_P0, buffer,

                                        ((ut_vl53l0xdata_t*)ut->data)->timeout);

        status |= vl53l0x_lld_CheckRangingDataReady(((ut_vl53l0xdata_t*)(ut->data))->vl53d, &pMeasurementDataReady);

        if ((pMeasurementDataReady == 0x01)) {

            chprintf(stream, "\t\tRead input: 0x%04X 0x%04X 0x%04X\t",

                     (((uint16_t)buffer[0]) << 8) | buffer[1],

                     (((uint16_t)buffer[2]) << 8) | buffer[3],

                     (((uint16_t)buffer[4]) << 8) | buffer[5]);

            //get the measurement from VL53L0X

            status |= vl53l0x_lld_getRangingData(((ut_vl53l0xdata_t*)(ut->data))->vl53d, pRangingMeasurementData);

            chprintf(stream, "distance: %i\n", RangingMeasurementData.RangeMilliMeter);

        }

    }

    aosSysGetUptime(&tcurrent);

  } while (tcurrent < tend);

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, pRangingMeasurementData);

  }

  chprintf(stream, "stop maeasurement ... \n");

  status = vl53l0x_lld_stop_measurement(((ut_vl53l0xdata_t*)(ut->data))->vl53d);

  chEvtUnregister(((ut_vl53l0xdata_t*)(ut->data))->evtsource, &event_listener);

  if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {

    aosUtPassed(stream, &result);

  } else {

    aosUtFailedMsg(stream, &result, "0x%08X;\n", status);

  }

  chprintf(stream, "setting default address...\n");

  status = vl53l0x_lld_set_address(((ut_vl53l0xdata_t*)(ut->data))->vl53d, 0x29);