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OPT8241-CDK-EVM: FX2 Driver port to Sitara

Part Number: OPT8241-CDK-EVM

Has anyone gone through the process of porting the FX2 (https://github.com/3dtof/fx2-reference-firmwarefirmware onto a Sitara based processor? I recognize that the only supported means of getting data (according to the CDK) is to plug in via USB and use the USB drivers, however I will be implementing a design in the near future that removes this chip and connects the controller 9221 chip to a Sitara SOM. Prior to laying out coming up with a schematic and and a custom implementation, I wanted to get the EVM talking to the processor over a more production worthy interface, to ensure I am not missing anything important.

Thanks in advance!