Howdy, my project revolves around using Ap_periph to be able to use Septentrio mosaic G5 module over DroneCAN using an STM32 chip as an in-betweener. I am additionally trying to get the compass LIS2MDL on board as well. The problem is, even though ap_periph’s readme mentions that it supports both SPI and I2C for compasses, after looking into the driver files over at https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Compass/AP_Compass.cpp, it seems that there is no probe_spi_dev defined for this compass model (only probe_i2c_dev), which is a tad unusual. After looking into the specific driver file for this compass (AP_Compass_IIS2MDC.cpp instead of LIS2MDL since they are identical), it seems that the driver is protocol agnostic, so it can do both, but that gets bottlenecked by the general AP_Compass.cpp, which only defines the situation with i2c. Any ideas/help?