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Implement GpioDriver on Pca95x4 for GpioController access#2581

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Implement GpioDriver on Pca95x4 for GpioController access#2581
raffaeler with Copilot wants to merge 3 commits into
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copilot/implement-gpiodriver-for-pca95x4

Address review: add exception messages and refine test mock

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