/ - Diff - AMiRo-OS - Research for Cognitive Interaction

Revision bf8ca9aa

                     /* XTalkCompensationRangeMilliMeter */ 0,
                     /* XTalkCompensationRateMegaCps */ 0,
                     /* RangeOffsetMicroMeters */ 0,
                     /* !! LimitChecksEnable */ 0,
                     /* LimitChecksStatus */ 0,
                     /* !! LimitChecksEnable */ {0},
                     /* LimitChecksStatus */ {0},
                     /* LimitChecksValue */ {0},
                     /* !! WrapAroundCheckEnable */ 0,
                 },
-...
                 },
                 /* VL53L0X_SpadData_t */
+                {
                     /* RefSpadEnables */ 0,
                     /* RefGoodSpadMap */ 0,
                     /* RefSpadEnables */ {0},
                     /* RefGoodSpadMap */ {0},
                 },
                 /* SequenceConfig */ 0,
-...
                     /* XTalkCompensationRangeMilliMeter */ 0,
                     /* XTalkCompensationRateMegaCps */ 0,
                     /* RangeOffsetMicroMeters */ 0,
                     /* !! LimitChecksEnable */ 0,
                     /* LimitChecksStatus */ 0,
                     /* !! LimitChecksEnable */ {0},
                     /* LimitChecksStatus */ {0},
                     /* LimitChecksValue */ {0},
                     /* !! WrapAroundCheckEnable */ 0,
                 },
-...
                 },
                 /* VL53L0X_HistogramMeasurementData_t */
+                {
                     /* HistogramData */ 0,
                     /* HistogramData */ {0},
                     /* HistogramType */ 0,
                     /* FirstBin */ 0,
                     /* BufferSize */ 0,
-...
                 },
                 /* VL53L0X_SpadData_t */
+                {
                     /* RefSpadEnables */ 0,
                     /* RefGoodSpadMap */ 0,
                     /* RefSpadEnables */ {0},
                     /* RefGoodSpadMap */ {0},
                 },
                 /* SequenceConfig */ 0,
-...
         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
         /*  1.1
             set XSHUT as output(0) and GPIO/interrzpt as input(1)
             XSHUT are P0_0 ... P0_7 P1_0 ... P1_3
             intertupt are P1_4 ... P1_7 P2_0 ... P2_7
         */
         //P0_0...P0_7: 0x00 == 00000000
         status = pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_CONFIGURATION_P0, 0x00, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         //P1_0...P1_7: 0xF0==11110000
         status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_CONFIGURATION_P1, 0xF0, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         //P2_0...P2_7: 0xFF==11111111
         status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_CONFIGURATION_P2, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         /*  1.2
             to set all VL53L0X to standby, you must set the XSHUT to low through pull-down.A better way is to set for all a pull-up and write the value 0 (low) to
             Output port registers.
             Therefore you must active the pull-ups/pull-downs for all XSHUT anf GPIO pins.
             Set all XSHUT to low with a pull-down and all interrupts to high with a pull-up.
         */
         //activte pull-up/pull-down for all pins
         status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDENABLE_P0, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDENABLE_P1, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         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
         //set pins to pull-up(1) or pull-down(0)
         status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P0, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P1, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_PUPDSELECTION_P2, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         //set output ports to logical 0 to set VL53L0X to standby. If the port is an input port nothing happens.
         status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_OUTPUT_P0, 0x00, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_OUTPUT_P1, 0x00, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         /*  2.1
             Configuration of the interrupt handling on GPIO Extander.
             The Interrupt pins are already set as Input (pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_CONFIGURATION_P1, 0xF0,...); for Pins P1_0...P1_7).
             To enable interrupts you must set the interrupt mask register to 0 for the GPIO pins (P1_4...P1_7 P2_0...P2_7).
             Set for unittest all pins to 1 and only enable the one used pin.
         */
         status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P0, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P1, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         /*  2.2
             Set the interrupt edge register (60h to 65h) after you set the interrupt mask register (we unset this a step before) to declare if a rising edge (01)
             or a falling edge (10) or other is an interrupt.
             The GPIO1 pin from the VL53L0X is low and goes high if an interrupt is detected, you must use 01 for the pins P1_4...P1_7 P2_0...P2_7.
         */
         //P1_4...P1_7: 0x55==01010101
         //status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         //P2_3...P2_0: 0x55==01010101
         //status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         //P2_4...P2_7: 0x55==01010101
         //status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         /*  3
             Latch the input register (48h,49h,4Ah) enable and disable the input latch of the I/O pins. Write a 0 == not lachted and every read from the Input registers (00h,01h,02h)
             and every change from the VL53L0X will clear the interrupt. Write a 1 == lachted and only a read from the Input registers (00h,01h,02h) will clear the interrupt.
             Therefore it is not important what is set in step 2.1 and 2.2.
         */
         //P1_7...P1_4 set to 1 and P1_3...P1_0 set to 0: 0xF0==11110000
         status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INPUTLATCH_P1, 0xF0, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         //P2_7...P2_0 set to 1: 0xFF==11111111
         status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INPUTLATCH_P2, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         // same as second GPIO-Extender
         // set input/output
         status = pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_CONFIGURATION_P0, 0x00, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_CONFIGURATION_P1, 0xF0, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_CONFIGURATION_P2, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         //activte pull-up/pull-down for all pins
         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);
         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_PUPDENABLE_P2, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         //set pins to pull-up(1) or pull-down(0)
         status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P0, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P1, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_PUPDSELECTION_P2, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         //set output ports to logical 0 to set VL53L0X to standby. If the port is an input port nothing happens.
         status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_OUTPUT_P0, 0x00, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_OUTPUT_P1, 0x00, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         //un enable all interrupts
         status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P0, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P1, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         // set interrupt to latch
         status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INPUTLATCH_P1, 0xF0, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
         status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INPUTLATCH_P2, 0xFF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
-...
         GP == GPIO Extender
           */
       if (argc == 2) {
           /*  scheme to set VL53L0X with the GPIO Extender:
            * set bitmask for XSHUT, e.g. XSHUT at 0.3 => 00001000 == buffer[0] = 0x8;
            * find the corresponding interrupt pin, e.g. 0.3 with interrupt 1.7
            * 1.1 start the sensor, e.g for XSHUT at 0.3
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_OUTPUT_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
            * 2.1 set the interrupt, e.g. for 1.7 == 011111111 == 0x7F
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P1, 0x7F, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
            * 2.2 set interrupt edge register, e.g. interrupt at 1.7
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
            */
           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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_OUTPUT_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 011111111 == 0x7F
               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);
               // set interrupt edge register, see step 2.2
               // P2_4...P2_7: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_OUTPUT_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 1011111111 == 0xBF
               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);
               // set interrupt edge register, see step 2.2
               // P2_4...P2_7: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               //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);
               //start the sensor
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_OUTPUT_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 1101111111 == 0xDF == M2.5
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xDF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               // P2_4...P2_7: 0x55==01010101, although we need only the register 2_5, but the are ignored.
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_OUTPUT_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 11101111 == 0xEF
               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);
               // set interrupt edge register, see step 2.2
               // P2_4...P2_7: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_OUTPUT_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 11110111 == 0xF7
               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);
               // set interrupt edge register, see step 2.2
               // P2_0...P2_3: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_OUTPUT_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 11111011 == 0xFB
               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);
               // set interrupt edge register, see step 2.2
               // P2_0...P2_3: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_OUTPUT_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 11111101 == 0xFD
               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);
               // set interrupt edge register, see step 2.2
               // P2_0...P2_3: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_OUTPUT_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 11111110 == 0xFE
               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);
               // set interrupt edge register, see step 2.2
               // P2_3...P2_0: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_OUTPUT_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 011111111 == 0x7F
               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);
               // set interrupt edge register, see step 2.2
               // P1_4...P1_7: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_OUTPUT_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 10111111 == 0xBF
               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);
               // set interrupt edge register, see step 2.2
               // P1_4...P1_7: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_OUTPUT_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 11011111 == 0xDF
               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);
               // set interrupt edge register, see step 2.2
               // P1_4...P1_7: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_OUTPUT_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 11101111 == 0xEF
               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);
               // set interrupt edge register, see step 2.2
               // P1_4...P1_7: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_OUTPUT_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 011111111 == 0x7F
               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);
               // set interrupt edge register, see step 2.2
               // P2_4...P2_7: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_OUTPUT_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 1011111111 == 0xBF
               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);
               // set interrupt edge register, see step 2.2
               // P2_4...P2_7: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               //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);
               //start the sensor
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_OUTPUT_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 1101111111 == 0xDF == M2.5
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTMASK_P2, 0xDF, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               // P2_4...P2_7: 0x55==01010101, although we need only the register 2_5, but the are ignored.
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_OUTPUT_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 11101111 == 0xEF
               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);
               // set interrupt edge register, see step 2.2
               // P2_4...P2_7: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_OUTPUT_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 11110111 == 0xF7
               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);
               // set interrupt edge register, see step 2.2
               // P2_0...P2_3: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_OUTPUT_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 11111011 == 0xFB
               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);
               // set interrupt edge register, see step 2.2
               // P2_0...P2_3: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_OUTPUT_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 11111101 == 0xFD
               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);
               // set interrupt edge register, see step 2.2
               // P2_0...P2_3: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_OUTPUT_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 11111110 == 0xFE
               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);
               // set interrupt edge register, see step 2.2
               // P2_3...P2_0: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2A, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_OUTPUT_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 011111111 == 0x7F
               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);
               // set interrupt edge register, see step 2.2
               // P1_4...P1_7: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_OUTPUT_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 10111111 == 0xBF
               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);
               // set interrupt edge register, see step 2.2
               // P1_4...P1_7: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_OUTPUT_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 11011111 == 0xDF
               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);
               // set interrupt edge register, see step 2.2
               // P1_4...P1_7: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               //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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_OUTPUT_P0, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 11101111 == 0xEF
               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);
               // set interrupt edge register, see step 2.2
               // P1_4...P1_7: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux2, PCAL6524_LLD_CMD_INTERRUPTEDGE_P1B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               //set GPIO extender
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender2;
           } else{
           } 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
               //start the sensor
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_OUTPUT_P1, buffer[0], ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               //In step 2.1 the interrupt pins were unenabled, so enable the one necessary interrupt pin.
               // 011111111 == 0x7F
               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);
               // set interrupt edge register, see step 2.2
               // P2_4...P2_7: 0x55==01010101, although we need only the register 2_6, but the are ignored.
               status |= pcal6524_lld_write_reg(mux1, PCAL6524_LLD_CMD_INTERRUPTEDGE_P2B, 0x55, ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->timeout);
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->vl53d = &moduleLldProximity1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT1;
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->evtflags = MODULE_OS_IOEVENTFLAGS_IRINT2;
               //set GPIO extender
               ((ut_vl53l0xdata_t*)moduleUtAlldVl53l0x.data)->gpio = &moduleLldGpioExtender1;

periphery-lld/AMiRo-LLD
1		Subproject commit 6ebebd4d7aa9aa16a2322c41de61d41fd62140d4
	1	Subproject commit c368a7653aea662f10bd6661493f26b162f0a821

       //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) {
               //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) {
                   //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) {
                       //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]);
+                      }
                   } else {
                     aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]);
+                  }
               } else {
                 aosUtFailedMsg(stream, &result, "0x%08X; 0x%08X\n", status, reg_8[0]);
+              }
           } 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, "writing register...\n");
       chprintf(stream, "writing register (Byte)...\n");
       //VL53L0X_WrByte(Dev, 0x88, 0x00);
       uint8_t tx_buf = 0x00;
-...
+      }
       chprintf(stream, "writing register (multi)...\n");
       //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 );
-...
       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]);
       chprintf(stream, "\t\tdistance : %u mm\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]);
           chprintf(stream, "\t\tdistance : %u mm\n", reg_16[0]);
+      }
       if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING)) {
-...
       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) {
               pFunctionality == VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY && pPolarity == VL53L0X_INTERRUPTPOLARITY_HIGH) {
         aosUtPassed(stream, &result);
       } else {
         aosUtFailedMsg(stream, &result, "0x%08X; mode:%u; Interrupt:%u; InterruptPolarity: %u\n", status, deviceMode, pFunctionality, pPolarity);
-...
       status = vl53l0x_lld_CheckRangingDataReady(((ut_vl53l0xdata_t*)(ut->data))->vl53d, &pMeasurementDataReady);
       status |= pcal6524_lld_read_group(((ut_vl53l0xdata_t*)ut->data)->gpio, PCAL6524_LLD_CMD_INPUT_P0, buffer,
                                       ((ut_vl53l0xdata_t*)ut->data)->timeout);
       switch (pcal6524_lld_cmd_groupsize(PCAL6524_LLD_CMD_INPUT_P0)) {
       case 1:
           break;
       case 2:
           break;
       case 3:
           chprintf(stream, "\t\tRead input: 0x%02X 0x%02X 0x%02X\t", buffer[0], buffer[1], buffer[2]);
           break;
       case 6:
           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]);
           break;
       default:
           break;
+      }
       if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && pMeasurementDataReady == 0) {
         aosUtPassed(stream, &result);
-...
       chprintf(stream, "start maeasurement ... \n");
       //set everything for eventshandler
       chEvtRegister(((ut_vl53l0xdata_t*)(ut->data))->evtsource, &event_listener, INTERRUPT_EVENT_ID);
       aosSysGetUptime(&tend);
-...
+      }
     chprintf(stream, "Check for interrupts ... \n");
       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 eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(MICROSECONDS_PER_SECOND));
         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);
           chprintf(stream, "\t\tEVENT");
           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_getRangingData(((ut_vl53l0xdata_t*)(ut->data))->vl53d, pRangingMeasurementData);
             status |= vl53l0x_lld_CheckRangingDataReady(((ut_vl53l0xdata_t*)(ut->data))->vl53d, &pMeasurementDataReady);
             if ((pMeasurementDataReady == 0x01)) {
           switch (pcal6524_lld_cmd_groupsize(PCAL6524_LLD_CMD_INPUT_P0)) {
           case 1:
                 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]);
               break;
           case 2:
               break;
           case 3:
               chprintf(stream, "\tRead input: 0x%02X 0x%02X 0x%02X", buffer[0], buffer[1], buffer[2]);
               break;
           case 6:
               chprintf(stream, "\t\tRead input: 0x%04X 0x%04X 0x%04X",
                        (((uint16_t)buffer[0]) << 8) | buffer[1],
                        (((uint16_t)buffer[2]) << 8) | buffer[3],
                        (((uint16_t)buffer[4]) << 8) | buffer[5]);
               break;
           default:
               break;
+          }
           chprintf(stream, "\tdistance = %i mm\n", RangingMeasurementData.RangeMilliMeter);
                 //get the measurement from VL53L0X
                 status |= vl53l0x_lld_getRangingData(((ut_vl53l0xdata_t*)(ut->data))->vl53d, pRangingMeasurementData);
                 chprintf(stream, "distance: %i\n", RangingMeasurementData.RangeMilliMeter);
+            }
         }else{
             chprintf(stream, "\tNo Interrupt, last measurement = %i mm\n", (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.Data.LastRangeMeasure.RangeMilliMeter);
+        }
-...
           &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){
               pFunctionality == VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW && pPolarity == VL53L0X_INTERRUPTPOLARITY_HIGH){
               //&& ThresholdLow == 80 * 65536 && ThresholdHigh == 150 * 65536) { not possible, only strange wrong values, e.g. Threshold low:1431655765;Threshold high:0
         aosUtPassed(stream, &result);
       } else {
-...
       status = vl53l0x_lld_CheckRangingDataReady(((ut_vl53l0xdata_t*)(ut->data))->vl53d, &pMeasurementDataReady);
       status |= pcal6524_lld_read_group(((ut_vl53l0xdata_t*)ut->data)->gpio, PCAL6524_LLD_CMD_INPUT_P0, buffer,
                                       ((ut_vl53l0xdata_t*)ut->data)->timeout);
       switch (pcal6524_lld_cmd_groupsize(PCAL6524_LLD_CMD_INPUT_P0)) {
       case 1:
           break;
       case 2:
           break;
       case 3:
           chprintf(stream, "\t\tRead input: 0x%02X 0x%02X 0x%02X\t", buffer[0], buffer[1], buffer[2]);
           break;
       case 6:
           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]);
           break;
       default:
           break;
+      }
       if ((status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) && pMeasurementDataReady == 0) {
         aosUtPassed(stream, &result);
-...
         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)) {
-...
+      }
       chprintf(stream, "start maeasurement ... \n");
-...
       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 eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(MICROSECONDS_PER_SECOND));
         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);
           chprintf(stream, "\t\tEVENT");
           // 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);
           switch (pcal6524_lld_cmd_groupsize(PCAL6524_LLD_CMD_INPUT_P0)) {
           case 1:
               break;
           case 2:
               break;
           case 3:
               chprintf(stream, "\tRead input: 0x%02X 0x%02X 0x%02X\t", buffer[0], buffer[1], buffer[2]);
               break;
           case 6:
               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]);
               break;
           default:
               break;
+          }
           status |= vl53l0x_lld_getRangingData(((ut_vl53l0xdata_t*)(ut->data))->vl53d, pRangingMeasurementData);
           chprintf(stream, "distance = %i mm\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);
+            }
         }else{
           chprintf(stream, "\tNo Interrupt, last measurement = %i mm\n", (((ut_vl53l0xdata_t*)(ut->data))->vl53d)->vl53l0x_dev.Data.LastRangeMeasure.RangeMilliMeter);
+        }
         aosSysGetUptime(&tcurrent);
       } while (tcurrent < tend);
-...
       chprintf(stream, "setting default address...\n");
       status = vl53l0x_lld_set_address(((ut_vl53l0xdata_t*)(ut->data))->vl53d, 0x29);

Also available in: Unified diff