Guys:
Unless I’m reading the code incorrectly, it looks like the DriverFramework version of the mpu9250 driver is written for SPI-only, while the code in src/drivers/mpu9250 appears to support both SPI and I2C.
I’m targeting the Beaglebone Blue, and using RPi as a reference. RPi uses the DriverFramework version.
The PX4 docs say that new drivers are supposed to use DriverFramework. So, should I figure out how to add I2C to src/lib/DriverFramework/drivers/mpu9250/MPU9250.cpp et. al? Or, should I just use the “old” driver even though I’m working on a “new” platform? (Right now, I don’t know how to do that either.)
Thanks!