diff --git a/.github/workflows/ArduinoBuild_2.yml b/.github/workflows/arduino-esp-v2-build-check.yml
similarity index 87%
rename from .github/workflows/ArduinoBuild_2.yml
rename to .github/workflows/arduino-esp-v2-build-check.yml
index e9dd20a..07f389d 100644
--- a/.github/workflows/ArduinoBuild_2.yml
+++ b/.github/workflows/arduino-esp-v2-build-check.yml
@@ -1,4 +1,4 @@
-name: ArduinoBuild(platform-version 2.x)
+name: Build(arduino-esp32:2.x)
 
 env:
   SKETCH_NAMES_FIND_START: ./examples/UnitUnified
@@ -8,6 +8,7 @@ on:
   push:
     tags-ignore:
       - '*.*.*'
+      - 'v*.*.*'
     branches:
       - '*'
     paths:
@@ -24,7 +25,7 @@ on:
       - 'examples/UnitUnified/**.hpp'
       - 'examples/UnitUnified/**.h'
       - 'examples/UnitUnified/**.c'
-      - '**ArduinoBuild_2.yml'
+      - '**arduino-esp-v2-build-check.yml'
   pull_request:
     paths:
       - 'src/unit/**.cpp'
@@ -40,12 +41,12 @@ on:
       - 'examples/UnitUnified/**.hpp'
       - 'examples/UnitUnified/**.h'
       - 'examples/UnitUnified/**.c'
-      - '**ArduinoBuild_2.yml'
+      - '**arduino-esp-v2-build-check.yml'
   workflow_dispatch:
 
 jobs:
   build:
-    name: ${{ matrix.unit }}:${{ matrix.sketch }}:${{ matrix.board }}@${{ matrix.platform-version }}
+    name: ${{ matrix.unit }}:${{ matrix.sketch }}:${{matrix.board}}@${{matrix.platform-version}}
     runs-on: ubuntu-latest
 
     strategy:
@@ -54,7 +55,6 @@ jobs:
       matrix:
         platform-url:
           - https://espressif.github.io/arduino-esp32/package_esp32_index.json
-#           - https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/arduino/package_m5stack_index.json
 
         sketch:
           - PlotToSerial
@@ -64,14 +64,15 @@ jobs:
           - UnitToF4M
 
         board:
+          - m5stack-atom
+          - m5stack-atoms3
           - m5stack-core-esp32
           - m5stack-core2
-          - m5stack-atoms3
+          - m5stack-coreink
           - m5stack-cores3
+          - m5stack-fire
 
         platform-version:
-          #- 2.0.15
-          #- 2.0.16
           - 2.0.17
 
         platform:
diff --git a/.github/workflows/ArduinoBuild_3.yml b/.github/workflows/arduino-esp-v3-build-check.yml
similarity index 81%
rename from .github/workflows/ArduinoBuild_3.yml
rename to .github/workflows/arduino-esp-v3-build-check.yml
index 41bc1b6..5e3f352 100644
--- a/.github/workflows/ArduinoBuild_3.yml
+++ b/.github/workflows/arduino-esp-v3-build-check.yml
@@ -1,13 +1,13 @@
-name: ArduinoBuild(platform-version 3.x)
+name: Build(arduino-esp32:3.x)
 
 env:
   SKETCH_NAMES_FIND_START: ./examples/UnitUnified
   REQUIRED_LIBRARIES: M5Unified,M5UnitUnified
-
 on:
   push:
     tags-ignore:
       - '*.*.*'
+      - 'v*.*.*'
     branches:
       - '*'
     paths:
@@ -24,7 +24,7 @@ on:
       - 'examples/UnitUnified/**.hpp'
       - 'examples/UnitUnified/**.h'
       - 'examples/UnitUnified/**.c'
-      - '**ArduinoBuild_3.yml'
+      - '**arduino-esp-v3-build-check.yml'
   pull_request:
     paths:
       - 'src/unit/**.cpp'
@@ -40,7 +40,7 @@ on:
       - 'examples/UnitUnified/**.hpp'
       - 'examples/UnitUnified/**.h'
       - 'examples/UnitUnified/**.c'
-      - '**ArduinoBuild_3.yml'
+      - '**arduino-esp-v3-build-check.yml'
   workflow_dispatch:
 
 jobs:
@@ -54,30 +54,41 @@ jobs:
       matrix:
         platform-url:
           - https://espressif.github.io/arduino-esp32/package_esp32_index.json
-#           - https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/arduino/package_m5stack_index.json
+
+        sketch:
+          - PlotToSerial
 
         unit:
           - UnitToF
           - UnitToF4M
 
-        sketch:
-          - PlotToSerial
-
         board:
+          - m5stack_atom
+          - m5stack_atoms3
+          - m5stack_capsule
+#          - m5stack_cardputer
           - m5stack_core
           - m5stack_core2
-          - m5stack_atoms3
+          - m5stack_coreink
           - m5stack_cores3
           - m5stack_dial
+          - m5stack_fire
           - m5stack_nanoc6
           - m5stack_paper
+#          - m5stack_poe_cam
+#          - m5stack_stamp_c3
+#          - m5stack_stamp_pico
+          - m5stack_stamp_s3
+#          - m5stack_station
+#          - m5stack_stickc
           - m5stack_stickc_plus
+          - m5stack_stickc_plus2
+#          - m5stack_timer_cam
+#          - m5stack_tough
+#          - m5stack_unit_cam
+#          - m5stack_unit_cams3
 
         platform-version:
-          #- 3.0.0
-          #- 3.0.1
-          #- 3.0.2
-          #- 3.0.3
           - 3.0.4
 
         platform:
diff --git a/.github/workflows/arduino-m5-build-check.yml b/.github/workflows/arduino-m5-build-check.yml
new file mode 100644
index 0000000..5c87bd2
--- /dev/null
+++ b/.github/workflows/arduino-m5-build-check.yml
@@ -0,0 +1,121 @@
+name: Build(arduino-m5stack)
+
+env:
+  SKETCH_NAMES_FIND_START: ./examples/UnitUnified
+  REQUIRED_LIBRARIES: M5Unified,M5UnitUnified
+
+on:
+  push:
+    tags-ignore:
+      - '*.*.*'
+      - 'v*.*.*'
+    branches:
+      - '*'
+    paths:
+      - 'src/unit/**.cpp'
+      - 'src/unit/**.hpp'
+      - 'src/unit/**.h'
+      - 'src/unit/**.c'
+      - 'test/**.cpp'
+      - 'test/**.hpp'
+      - 'test/**.h'
+      - 'test/**.c'
+      - 'examples/UnitUnified/**.ino'
+      - 'examples/UnitUnified/**.cpp'
+      - 'examples/UnitUnified/**.hpp'
+      - 'examples/UnitUnified/**.h'
+      - 'examples/UnitUnified/**.c'
+      - '**arduino-m5-build-check.yml'
+  pull_request:
+    paths:
+      - 'src/unit/**.cpp'
+      - 'src/unit/**.hpp'
+      - 'src/unit/**.h'
+      - 'src/unit/**.c'
+      - 'test/**.cpp'
+      - 'test/**.hpp'
+      - 'test/**.h'
+      - 'test/**.c'
+      - 'examples/UnitUnified/**.ino'
+      - 'examples/UnitUnified/**.cpp'
+      - 'examples/UnitUnified/**.hpp'
+      - 'examples/UnitUnified/**.h'
+      - 'examples/UnitUnified/**.c'
+      - '**arduino-m5-build-check.yml'
+  workflow_dispatch:
+
+jobs:
+  build:
+    name: ${{ matrix.unit }}:${{ matrix.sketch }}:${{matrix.board}}@${{matrix.platform-version}}
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+#      max-parallel: 1
+      matrix:
+        platform-url:
+          - https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/arduino/package_m5stack_index.json
+
+        sketch:
+          - PlotToSerial
+
+        unit:
+          - UnitToF
+          - UnitToF4M
+
+        board:
+          - m5stack_atom
+          - m5stack_atoms3
+          - m5stack_atoms3r
+          - m5stack_capsule
+#          - m5stack_cardputer
+          - m5stack_core
+          - m5stack_core2
+          - m5stack_coreink
+          - m5stack_cores3
+          - m5stack_dial
+          - m5stack_dinmeter
+          - m5stack_fire
+          - m5stack_paper
+#          - m5stack_poe_cam
+#          - m5stack_stamp_c3
+#          - m5stack_stamp_pico
+          - m5stack_stamp_s3
+#          - m5stack_station
+#          - m5stack_stickc
+          - m5stack_stickc_plus
+          - m5stack_stickc_plus2
+#          - m5stack_timer_cam
+#          - m5stack_tough
+#          - m5stack_unit_cam
+#          - m5stack_unit_cams3
+
+        platform-version:
+          - 2.1.2
+
+        platform:
+          - m5stack
+
+        archi:
+          - esp32
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+
+      # Build 
+      - name: Compile examples
+        uses: ArminJo/arduino-test-compile@master
+        with:
+          arduino-board-fqbn: ${{ matrix.platform }}:${{ matrix.archi }}:${{ matrix.board }}
+          arduino-platform: ${{ matrix.platform }}:${{ matrix.archi }}@${{ matrix.platform-version }}
+          platform-url: ${{ matrix.platform-url }}
+          required-libraries: ${{ env.REQUIRED_LIBRARIES }}
+          extra-arduino-cli-args: ${{ matrix.cli-args }}
+          #build-properties: ${{ toJson(matrix.build-properties) }}
+          sketch-names: ${{ matrix.sketch }}.ino
+          sketch-names-find-start: ${{ env.SKETCH_NAMES_FIND_START }}/${{ matrix.unit }}
+          #sketches-exclude: ${{ matrix.sketches-exclude }}
+
diff --git a/.github/workflows/clang-format-check.yml b/.github/workflows/clang-format-check.yml
index f7d9f6c..74dd0e4 100644
--- a/.github/workflows/clang-format-check.yml
+++ b/.github/workflows/clang-format-check.yml
@@ -11,7 +11,6 @@ on:
     branches:
       - '*'
     paths:
-      - '*'
       - '**.ino'
       - '**.cpp'
       - '**.hpp'
diff --git a/.github/workflows/PlatformioBuild.yml b/.github/workflows/platformio-build-check.yml
similarity index 55%
rename from .github/workflows/PlatformioBuild.yml
rename to .github/workflows/platformio-build-check.yml
index 2974c3c..011ee73 100644
--- a/.github/workflows/PlatformioBuild.yml
+++ b/.github/workflows/platformio-build-check.yml
@@ -1,9 +1,10 @@
-name: PlatformIOBuild
+name: Build(platformio)
 
 on:
   push:
     tags-ignore:
       - '*.*.*'
+      - 'v*.*.*'
     branches:
       - '*'
     paths:
@@ -20,7 +21,7 @@ on:
       - 'examples/UnitUnified/**.hpp'
       - 'examples/UnitUnified/**.h'
       - 'examples/UnitUnified/**.c'
-      - '**PlatformioBuild.yml'
+      - '/platformio-build-check.yml'
       - '**platformio.ini'
   pull_request:
     paths:
@@ -37,7 +38,7 @@ on:
       - 'examples/UnitUnified/**.hpp'
       - 'examples/UnitUnified/**.h'
       - 'examples/UnitUnified/**.c'
-      - '**PlatformioBuild.yml'
+      - '**/platformio-build-check.yml'
       - '**platformio.ini'
   workflow_dispatch:
 
@@ -62,51 +63,55 @@ jobs:
           - Core
           - Core2
           - CoreS3
+          - Fire
           - StampS3
-          - AtomS3
           - Dial
+          - AtomMatrix
+          - AtomS3
+          - AtomS3R
           - NanoC6
           - StickCPlus
+          - StickCPlus2
           - Paper
-          - Fire
+          - CoreInk
 
         framework:
           - Arduino
 
         espressif32:
           - latest
-          - '5_4_0'
-          - '4_4_0'
+#          - '5_4_0'
+#          - '4_4_0'
 
-        exclude:
-          - board: CoreS3
-            espressif32: '5_4_0'
-          - board: CoreS3
-            espressif32: '4_4_0'
-          - board: StampS3
-            espressif32: '5_4_0'
-          - board: StampS3
-            espressif32: '4_4_0'
-          - board: AtomS3
-            espressif32: '5_4_0'
-          - board: AtomS3
-            espressif32: '4_4_0'
-          - board: Dial
-            espressif32: '5_4_0'
-          - board: Dial
-            espressif32: '4_4_0'
-          - board: NanoC6
-            espressif32: '5_4_0'
-          - board: NanoC6
-            espressif32: '4_4_0'
-          - board: StickCPlus
-            espressif32: '5_4_0'
-          - board: StickCPlus
-            espressif32: '4_4_0'
-          - board: Paper
-            espressif32: '5_4_0'
-          - board: Paper
-            espressif32: '4_4_0'
+#        exclude:
+#          - board: CoreS3
+#            espressif32: '5_4_0'
+#          - board: CoreS3
+#            espressif32: '4_4_0'
+#          - board: StampS3
+#            espressif32: '5_4_0'
+#          - board: StampS3
+#            espressif32: '4_4_0'
+#          - board: AtomS3
+#            espressif32: '5_4_0'
+#          - board: AtomS3
+#            espressif32: '4_4_0'
+#          - board: Dial
+#            espressif32: '5_4_0'
+#          - board: Dial
+#            espressif32: '4_4_0'
+#          - board: NanoC6
+#            espressif32: '5_4_0'
+#          - board: NanoC6
+#            espressif32: '4_4_0'
+#          - board: StickCPlus
+#            espressif32: '5_4_0'
+#          - board: StickCPlus
+#            espressif32: '4_4_0'
+#          - board: Paper
+#            espressif32: '5_4_0'
+#          - board: Paper
+#            espressif32: '4_4_0'
 
     steps:
       - name: Checkout
@@ -117,11 +122,11 @@ jobs:
       - name: Build examples
         uses: karniv00l/platformio-run-action@v1
         with:
-          environments: ${{ matrix.unit }}_${{ matrix.example }}_${{ matrix.board }}_${{ matrix.framework }}_${{ matrix.espressif32 }}
-          #targets:
+          environments: ${{ matrix.unit != '' && format('{0}_{1}_{2}_{3}_{4}', matrix.unit, matrix.example, matrix.board, matrix.framework, matrix.espressif32) || format('{0}_{1}_{2}_{3}', matrix.example, matrix.board, matrix.framework, matrix.espressif32) }}
+#         targets:
           project-dir: "./"
           project-conf: "./platformio.ini"
-          #jobs: 6
-          #silent: false
-          #verbose: true
-          #disable-auto-clean: false
+#          jobs: 6
+#          silent: false
+#          verbose: true
+#          disable-auto-clean: false
diff --git a/README.md b/README.md
index 8d6847c..01512a3 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-# M5Unit - ToF
+# M5Unit - TOF
 
 ## Overview
 
@@ -36,14 +36,14 @@ See also examples using conventional methods here.
 
 ## License
 
-- [M5Unit-ToF- MIT](LICENSE)
+- [M5Unit-TOF- MIT](LICENSE)
 
 
 ## Examples
 See also [examples/UnitUnified](examples/UnitUnified)
 
 ## Doxygen document
-[GitHub Pages](https://m5stack.github.io/M5Unit-ToF/)
+[GitHub Pages](https://m5stack.github.io/M5Unit-TOF/)
 
 If you want to generate documents on your local machine, execute the following command
 
diff --git a/boards/m5stack-atoms3r.json b/boards/m5stack-atoms3r.json
new file mode 100644
index 0000000..1c9ecce
--- /dev/null
+++ b/boards/m5stack-atoms3r.json
@@ -0,0 +1,41 @@
+{
+    "build": {
+        "arduino": {
+            "memory_type": "qio_opi",
+            "ldscript": "esp32s3_out.ld",
+            "partitions": "default_8MB.csv"
+        },
+        "core": "esp32",
+        "extra_flags": [
+            "-DARDUINO_M5STACK_ATOMS3R",
+            "-DBOARD_HAS_PSRAM",
+            "-DARDUINO_USB_MODE=1",
+            "-DARDUINO_USB_CDC_ON_BOOT=1",
+            "-DARDUINO_RUNNING_CORE=1",
+            "-DARDUINO_EVENT_RUNNING_CORE=1"
+        ],
+        "f_cpu": "240000000L",
+        "f_flash": "80000000L",
+        "flash_mode": "dio",
+        "mcu": "esp32s3",
+        "variant": "m5stack_atoms3"
+    },
+    "connectivity": [
+        "bluetooth",
+        "wifi"
+    ],
+    "frameworks": [
+        "arduino",
+        "espidf"
+    ],
+    "name": "M5Stack AtomS3R",
+    "upload": {
+        "flash_size": "8MB",
+        "maximum_ram_size": 327680,
+        "maximum_size": 8388608,
+        "require_upload_port": true,
+        "speed": 460800
+    },
+    "url": "https://docs.m5stack.com/en/core/AtomS3R",
+    "vendor": "M5Stack"
+}
diff --git a/boards/m5stack-nanoc6.json b/boards/m5stack-nanoc6.json
index cae742e..ddaad65 100644
--- a/boards/m5stack-nanoc6.json
+++ b/boards/m5stack-nanoc6.json
@@ -2,7 +2,7 @@
     "build": {
 	"core": "esp32",
         "extra_flags": [
-            "-DARDUINO_M5Stack_NanoC6"
+            "-DARDUINO_M5STACK_NANOC6"
         ],
 	"f_cpu": "160000000L",
 	"f_flash": "80000000L",
diff --git a/boards/m5stick-cplus2.json b/boards/m5stick-cplus2.json
new file mode 100644
index 0000000..91fa2ca
--- /dev/null
+++ b/boards/m5stick-cplus2.json
@@ -0,0 +1,40 @@
+{
+    "build": {
+	"arduino":{
+	    "ldscript": "esp32_out.ld",
+	    "partitions": "default_8MB.csv"
+	},
+	"core": "esp32",
+	"extra_flags": [
+	    "-DM5STACK_M5STICK_CPLUS2",
+	    "-DBOARD_HAS_PSRAM",
+	    "-mfix-esp32-psram-cache-issue",
+	    "-mfix-esp32-psram-cache-strategy=memw",
+	    "-DARDUINO_RUNNING_CORE=1",
+	    "-DARDUINO_EVENT_RUNNING_CORE=1"
+	],
+	"f_cpu": "240000000L",
+	"f_flash": "80000000L",
+	"flash_mode": "dio",
+	"mcu": "esp32",
+	"variant": "m5stick_c"
+    },
+    "connectivity": [
+	"wifi",
+	"bluetooth"
+    ],
+    "frameworks": [
+	"arduino",
+	"espidf"
+    ],
+    "name": "M5Stick-CPlus2",
+    "upload": {
+	"flash_size": "8MB",
+	"maximum_ram_size": 327680,
+	"maximum_size": 8388608,
+	"require_upload_port": true,
+	"speed": 1500000
+    },
+    "url": "https://docs.m5stack.com/en/core/M5StickC%20PLUS2",
+    "vendor": "M5Stack"
+}
diff --git a/examples/UnitUnified/UnitToF/PlotToSerial/main/PlotToSerial.cpp b/examples/UnitUnified/UnitToF/PlotToSerial/main/PlotToSerial.cpp
index 6aacfd7..e6fcad7 100644
--- a/examples/UnitUnified/UnitToF/PlotToSerial/main/PlotToSerial.cpp
+++ b/examples/UnitUnified/UnitToF/PlotToSerial/main/PlotToSerial.cpp
@@ -8,7 +8,7 @@
 */
 #include <M5Unified.h>
 #include <M5UnitUnified.h>
-#include <M5UnitUnifiedToF.h>
+#include <M5UnitUnifiedTOF.h>
 #include <M5Utility.h>
 
 namespace {
diff --git a/examples/UnitUnified/UnitToF4M/PlotToSerial/main/PlotToSerial.cpp b/examples/UnitUnified/UnitToF4M/PlotToSerial/main/PlotToSerial.cpp
index 3b92c49..161b952 100644
--- a/examples/UnitUnified/UnitToF4M/PlotToSerial/main/PlotToSerial.cpp
+++ b/examples/UnitUnified/UnitToF4M/PlotToSerial/main/PlotToSerial.cpp
@@ -8,7 +8,7 @@
 */
 #include <M5Unified.h>
 #include <M5UnitUnified.h>
-#include <M5UnitUnifiedToF.h>
+#include <M5UnitUnifiedTOF.h>
 #include <M5Utility.h>
 
 namespace {
diff --git a/platformio.ini b/platformio.ini
index 1abe53b..e4404f1 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -3,8 +3,6 @@
 ; For UnitTest and examples (Using M5UnitUnified)
 ;-----------------------------------------------------------------------
 [platformio]
-;default_envs = test_UnitToF4M_Core, test_UnitToF4M_Core2, test_UnitToF4M_CoreS3, test_UnitToF4M_Fire, test_UnitToF4M_StampS3, test_UnitToF4M_Dial, test_UnitToF4M_AtomS3, test_UnitToF4M_NanoC6, test_UnitToF4M_StickCPlus, test_UnitToF4M_Paper
-;default_envs = PlotToSerial_Core_Arduino_latest, PlotToSerial_Core_Arduino_5_4_0, PlotToSerial_Core_Arduino_4_4_0, PlotToSerial_Core2_Arduino_latest, PlotToSerial_Core2_Arduino_5_4_0, PlotToSerial_Core2_Arduino_4_4_0, PlotToSerial_CoreS3_Arduino_latest, PlotToSerial_Fire_Arduino_latest, PlotToSerial_Fire_Arduino_5_4_0, PlotToSerial_Fire_Arduino_4_4_0, PlotToSerial_StampS3_Arduino_latest, PlotToSerial_AtomS3_Arduino_latest, PlotToSerial_Dial_Arduino_latest, PlotToSerial_NanoC6_Arduino_latest, PlotToSerial_StickCPlus_Arduino_latest, PlotToSerial_Paper_Arduino_latest
 
 [env]
 build_flags =-Wall -Wextra -Wreturn-local-addr -Werror=format -Werror=return-local-addr
@@ -45,7 +43,7 @@ board = m5stack-fire
 lib_deps = ${env.lib_deps}
 
 [StampS3]
-;include M5Capsule
+;include M5Capsule, DinMeter
 extends = m5base
 board = m5stack-stamps3
 lib_deps = ${env.lib_deps}
@@ -56,11 +54,22 @@ board = m5stack-stamps3
 lib_deps = ${env.lib_deps}
   m5stack/M5Dial
 
+[AtomMatrix]
+extends = m5base
+board = m5stack-atom
+lib_deps = ${env.lib_deps}
+
 [AtomS3]
 extends = m5base
 board = m5stack-atoms3
 lib_deps = ${env.lib_deps}
 
+; Using ./boards/m5stack-atoms3r.json
+[AtomS3R]
+extends = m5base
+board = m5stack-atoms3r
+lib_deps = ${env.lib_deps}
+
 ; Using ./boards/m5stack-nanoc6.json
 [NanoC6]
 extends = m5base
@@ -77,10 +86,20 @@ extends = m5base
 board = m5stick-c
 lib_deps = ${env.lib_deps}
 
+; Using ./boards/m5stick-cplus2.json
+[StickCPlus2]
+extends = m5base
+board = m5stick-cplus2
+lib_deps = ${env.lib_deps}
+
 [Paper]
 extends = m5base
 board = m5stack-fire
-; Using M5Fire instead of the M5Paper(Noting...)
+lib_deps = ${env.lib_deps}
+
+[CoreInk]
+extends = m5base
+board = m5stack-coreink
 lib_deps = ${env.lib_deps}
 
 [sdl]
@@ -199,12 +218,24 @@ lib_deps = ${Dial.lib_deps}
   ${test_fw.lib_deps}
 test_filter= embedded/test_vl53l1x
 
+[env:test_UnitToF4M_AtomMatrix]
+extends=AtomMatrix, option_release, arduino_latest
+lib_deps = ${AtomMatrix.lib_deps} 
+  ${test_fw.lib_deps}
+test_filter= embedded/test_vl53l1x
+
 [env:test_UnitToF4M_AtomS3]
 extends=AtomS3, option_release, arduino_latest
 lib_deps = ${AtomS3.lib_deps} 
   ${test_fw.lib_deps}
 test_filter= embedded/test_vl53l1x
 
+[env:test_UnitToF4M_AtomS3R]
+extends=AtomS3R, option_release, arduino_latest
+lib_deps = ${AtomS3R.lib_deps} 
+  ${test_fw.lib_deps}
+test_filter= embedded/test_vl53l1x
+
 [env:test_UnitToF4M_NanoC6]
 extends=NanoC6, option_release, arduino_latest
 lib_deps = ${NanoC6.lib_deps}
@@ -217,12 +248,24 @@ lib_deps = ${StickCPlus.lib_deps}
   ${test_fw.lib_deps} 
 test_filter= embedded/test_vl53l1x
 
+[env:test_UnitToF4M_StickCPlus2]
+extends=StickCPlus2, option_release, arduino_latest
+lib_deps = ${StickCPlus2.lib_deps} 
+  ${test_fw.lib_deps} 
+test_filter= embedded/test_vl53l1x
+
 [env:test_UnitToF4M_Paper]
 extends=Paper, option_release, arduino_latest
 lib_deps = ${Paper.lib_deps} 
   ${test_fw.lib_deps} 
 test_filter= embedded/test_vl53l1x
 
+[env:test_UnitToF4M_CoreInk]
+extends=CoreInk, option_release, arduino_latest
+lib_deps = ${CoreInk.lib_deps} 
+  ${test_fw.lib_deps} 
+test_filter= embedded/test_vl53l1x
+
 ;ToF
 [env:test_UnitToF_Core]
 extends=Core, option_release, arduino_latest
@@ -260,12 +303,24 @@ lib_deps = ${Dial.lib_deps}
   ${test_fw.lib_deps}
 test_filter= embedded/test_vl53l0x
 
+[env:test_UnitToF_AtomMatrix]
+extends=AtomMatrix, option_release, arduino_latest
+lib_deps = ${AtomMatrix.lib_deps} 
+  ${test_fw.lib_deps}
+test_filter= embedded/test_vl53l0x
+
 [env:test_UnitToF_AtomS3]
 extends=AtomS3, option_release, arduino_latest
 lib_deps = ${AtomS3.lib_deps} 
   ${test_fw.lib_deps}
 test_filter= embedded/test_vl53l0x
 
+[env:test_UnitToF_AtomS3R]
+extends=AtomS3R, option_release, arduino_latest
+lib_deps = ${AtomS3R.lib_deps} 
+  ${test_fw.lib_deps}
+test_filter= embedded/test_vl53l0x
+
 [env:test_UnitToF_NanoC6]
 extends=NanoC6, option_release, arduino_latest
 lib_deps = ${NanoC6.lib_deps}
@@ -278,12 +333,23 @@ lib_deps = ${StickCPlus.lib_deps}
   ${test_fw.lib_deps} 
 test_filter= embedded/test_vl53l0x
 
+[env:test_UnitToF_StickCPlus2]
+extends=StickCPlus2, option_release, arduino_latest
+lib_deps = ${StickCPlus2.lib_deps} 
+  ${test_fw.lib_deps} 
+test_filter= embedded/test_vl53l0x
+
 [env:test_UnitToF_Paper]
 extends=Paper, option_release, arduino_latest
 lib_deps = ${Paper.lib_deps} 
   ${test_fw.lib_deps} 
 test_filter= embedded/test_vl53l0x
 
+[env:test_UnitToF_CoreInk]
+extends=CoreInk, option_release, arduino_latest
+lib_deps = ${CoreInk.lib_deps} 
+  ${test_fw.lib_deps} 
+test_filter= embedded/test_vl53l0x
 
 ; --------------------------------
 ;Examples by M5UnitUnified
@@ -333,10 +399,18 @@ build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF4M/Pl
 extends=StampS3, option_release, arduino_latest
 build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF4M/PlotToSerial>
 
+[env:UnitToF4M_PlotToSerial_AtomMatrix_Arduino_latest]
+extends=AtomMatrix, option_release, arduino_latest
+build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF4M/PlotToSerial>
+
 [env:UnitToF4M_PlotToSerial_AtomS3_Arduino_latest]
 extends=AtomS3, option_release, arduino_latest
 build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF4M/PlotToSerial>
 
+[env:UnitToF4M_PlotToSerial_AtomS3R_Arduino_latest]
+extends=AtomS3R, option_release, arduino_latest
+build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF4M/PlotToSerial>
+
 [env:UnitToF4M_PlotToSerial_Dial_Arduino_latest]
 extends=Dial, option_release, arduino_latest
 build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF4M/PlotToSerial>
@@ -349,10 +423,18 @@ build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF4M/Pl
 extends=StickCPlus, option_release, arduino_latest
 build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF4M/PlotToSerial>
 
+[env:UnitToF4M_PlotToSerial_StickCPlus2_Arduino_latest]
+extends=StickCPlus2, option_release, arduino_latest
+build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF4M/PlotToSerial>
+
 [env:UnitToF4M_PlotToSerial_Paper_Arduino_latest]
 extends=Paper, option_release, arduino_latest
 build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF4M/PlotToSerial>
 
+[env:UnitToF4M_PlotToSerial_CoreInk_Arduino_latest]
+extends=CoreInk, option_release, arduino_latest
+build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF4M/PlotToSerial>
+
 ;UnitToF
 [env:UnitToF_PlotToSerial_Core_Arduino_latest]
 extends=Core, option_release, arduino_latest
@@ -398,10 +480,18 @@ build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF/Plot
 extends=StampS3, option_release, arduino_latest
 build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF/PlotToSerial>
 
+[env:UnitToF_PlotToSerial_AtomMatrix_Arduino_latest]
+extends=AtomMatrix, option_release, arduino_latest
+build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF/PlotToSerial>
+
 [env:UnitToF_PlotToSerial_AtomS3_Arduino_latest]
 extends=AtomS3, option_release, arduino_latest
 build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF/PlotToSerial>
 
+[env:UnitToF_PlotToSerial_AtomS3R_Arduino_latest]
+extends=AtomS3R, option_release, arduino_latest
+build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF/PlotToSerial>
+
 [env:UnitToF_PlotToSerial_Dial_Arduino_latest]
 extends=Dial, option_release, arduino_latest
 build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF/PlotToSerial>
@@ -414,6 +504,14 @@ build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF/Plot
 extends=StickCPlus, option_release, arduino_latest
 build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF/PlotToSerial>
 
+[env:UnitToF_PlotToSerial_StickCPlus2_Arduino_latest]
+extends=StickCPlus2, option_release, arduino_latest
+build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF/PlotToSerial>
+
 [env:UnitToF_PlotToSerial_Paper_Arduino_latest]
 extends=Paper, option_release, arduino_latest
 build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF/PlotToSerial>
+
+[env:UnitToF_PlotToSerial_CoreInk_Arduino_latest]
+extends=CoreInk, option_release, arduino_latest
+build_src_filter = +<*> -<.git/> -<.svn/> +<../examples/UnitUnified/UnitToF/PlotToSerial>
diff --git a/src/M5UnitUnifiedToF.h b/src/M5UnitUnifiedTOF.h
similarity index 91%
rename from src/M5UnitUnifiedToF.h
rename to src/M5UnitUnifiedTOF.h
index e149b6e..abcb254 100644
--- a/src/M5UnitUnifiedToF.h
+++ b/src/M5UnitUnifiedTOF.h
@@ -9,7 +9,7 @@
 #ifndef M5_UNIT_UNIFIED_TOF_H
 #define M5_UNIT_UNIFIED_TOF_H
 #ifdef __cplusplus
-#include "M5UnitUnifiedToF.hpp"
+#include "M5UnitUnifiedTOF.hpp"
 #else
 #error M5UnitUnifiedToF requires a C++ compiler, please change file extension to .cc or .cpp
 #endif
diff --git a/src/M5UnitUnifiedToF.hpp b/src/M5UnitUnifiedTOF.hpp
similarity index 89%
rename from src/M5UnitUnifiedToF.hpp
rename to src/M5UnitUnifiedTOF.hpp
index 40ed5c0..8823b83 100644
--- a/src/M5UnitUnifiedToF.hpp
+++ b/src/M5UnitUnifiedTOF.hpp
@@ -7,8 +7,8 @@
   @file M5UnitUnifiedToF.hpp
   @brief Main header of M5UnitToF
 
-  @mainpage M5UnitToF
-  Library for UnitToF using M5UnitUnified.
+  @mainpage M5Unit-TOF
+  Library for UnitTOF using M5UnitUnified.
 */
 #ifndef M5_UNIT_UNIFIED_TOF_HPP
 #define M5_UNIT_UNIFIED_TOF_HPP
diff --git a/src/unit/.#unit_VL53L0X.hpp b/src/unit/.#unit_VL53L0X.hpp
new file mode 120000
index 0000000..87c91ba
--- /dev/null
+++ b/src/unit/.#unit_VL53L0X.hpp
@@ -0,0 +1 @@
+gob@gob-mbp.local.6886
\ No newline at end of file
diff --git a/src/unit/unit_VL53L0X.cpp b/src/unit/unit_VL53L0X.cpp
index fa9f01c..6b54e94 100644
--- a/src/unit/unit_VL53L0X.cpp
+++ b/src/unit/unit_VL53L0X.cpp
@@ -434,7 +434,7 @@ bool UnitVL53L0X::softReset()
     if (soft_reset()) {
         _mode     = Mode::Unknown;
         _periodic = false;
-        return begin();
+        return true;
     }
     return false;
 }
diff --git a/src/unit/unit_VL53L0X.hpp b/src/unit/unit_VL53L0X.hpp
index 2a25a68..d094113 100644
--- a/src/unit/unit_VL53L0X.hpp
+++ b/src/unit/unit_VL53L0X.hpp
@@ -96,8 +96,7 @@ class UnitVL53L0X : public Component, public PeriodicMeasurementAdapter<UnitVL53
         //! Operatiing condition
         vl53l0x::Operating operating{vl53l0x::Operating::Condition2V8};
         //! Operation mode
-        // vl53l0x::Mode mode{vl53l0x::Mode::LongRange};
-        vl53l0x::Mode mode{vl53l0x::Mode::Default};
+        vl53l0x::Mode mode{vl53l0x::Mode::LongRange};
         //! Start periodic measurement on begin?
         bool start_periodic{true};
     };
diff --git a/src/unit/unit_VL53L1X.cpp b/src/unit/unit_VL53L1X.cpp
index 7fba118..b1af717 100644
--- a/src/unit/unit_VL53L1X.cpp
+++ b/src/unit/unit_VL53L1X.cpp
@@ -300,7 +300,7 @@ bool UnitVL53L1X::softReset()
     if (soft_reset()) {
         _distance = Distance::Unknown;
         _periodic = false;
-        return begin();
+        return true;
     }
     return false;
 }
diff --git a/test/embedded/test_vl53l0x/vl53l0x_test.cpp b/test/embedded/test_vl53l0x/vl53l0x_test.cpp
index f0146f4..fe5928a 100644
--- a/test/embedded/test_vl53l0x/vl53l0x_test.cpp
+++ b/test/embedded/test_vl53l0x/vl53l0x_test.cpp
@@ -78,7 +78,7 @@ TEST_P(TestVL53L0X, SignalRateLimitAndReset)
 
     EXPECT_TRUE(unit->softReset());
     EXPECT_TRUE(unit->readSignalRateLimit(tmp));
-    EXPECT_NEAR(tmp, 0.25f, 0.0075f);  // default
+    EXPECT_FLOAT_EQ(tmp, 0.0f);
 }
 
 TEST_P(TestVL53L0X, Singleshot)
diff --git a/test/embedded/test_vl53l1x/vl53l1x_test.cpp b/test/embedded/test_vl53l1x/vl53l1x_test.cpp
index 97d976b..883cf1b 100644
--- a/test/embedded/test_vl53l1x/vl53l1x_test.cpp
+++ b/test/embedded/test_vl53l1x/vl53l1x_test.cpp
@@ -218,6 +218,7 @@ TEST_P(TestVL53L1X, Reset)
     Timing tb{};
     int16_t offset{};
     uint16_t xtalk{}, ms{};
+    EXPECT_FALSE(unit->inPeriodic());
     EXPECT_TRUE(unit->readDistanceMode(d));
     EXPECT_TRUE(unit->readTimingBudget(tb));
     EXPECT_TRUE(unit->readInterMeasurementPeriod(ms));
@@ -259,13 +260,13 @@ TEST_P(TestVL53L1X, SingleShot)
 {
     SCOPED_TRACE(ustr);
 
-    Data d{};
+    Data data{};
 
-    EXPECT_FALSE(unit->measureSingleshot(d));
+    EXPECT_FALSE(unit->measureSingleshot(data));
     EXPECT_TRUE(unit->stopPeriodicMeasurement());
     EXPECT_FALSE(unit->inPeriodic());
 
-    for (auto&& d ::distance_table) {
+    for (auto&& d : distance_table) {
         std::vector<uint16_t> results;
         SCOPED_TRACE(d == Distance::Long ? "Long" : "Short");
 
@@ -273,8 +274,8 @@ TEST_P(TestVL53L1X, SingleShot)
 
         uint32_t cnt{32};
         while (cnt--) {
-            EXPECT_TRUE(unit->measureSingleshot(d));
-            results.push_back(d.range());
+            EXPECT_TRUE(unit->measureSingleshot(data));
+            results.push_back(data.range());
         }
 
         EXPECT_FALSE(results.empty());