reading multiple i2c devices using da14531

We are using da14531 dev kit and trying to communicate with two i2c sensors , azotec trackpad module and mcp23017 gpio expander.We have written drivers for the modules and are able to communicate with the modules independently , however when we are simultaneously trying to communicate with both the modules we are facing an issue. In our code we have declared the i2c config structure as

// Configuration struct for I2C static const i2c_cfg_t i2c_cfg = { .clock_cfg.ss_hcnt = I2C_SS_SCL_HCNT_REG_RESET, .clock_cfg.ss_lcnt = I2C_SS_SCL_LCNT_REG_RESET, .clock_cfg.fs_hcnt = I2C_FS_SCL_HCNT_REG_RESET, .clock_cfg.fs_lcnt = I2C_FS_SCL_LCNT_REG_RESET, .restart_en = I2C_RESTART_ENABLE, .speed = I2C_SPEED_FAST, .mode = I2C_MODE_MASTER, .addr_mode = I2C_ADDRESSING_7B, .address = MCP23017_ADDRESS, .tx_fifo_level = 1, .rx_fifo_level = 1, };

and everytime we are communicating with an i2c device we are setting up the function

i2c_set_target_address(I2cdevice_ADDRESS);

and trying to communicate with the device.

could you kindly point us to some examples about how to communicate simultaneously with multiple i2c devices. we went through the eeprom example but things are not yet clear. many thanks for the help.