I’m having trouble with the integration with the raspberry pi and balboa. I was able to get the I2C connection in place using the pololu-rpi-slave-arduino-library but then I lose the ability to communicate with the IC2 devices from the Balboa board. I tried making them both bus masters but that repeatedly crashed after a minute or so. I’m pretty sure it’s due to the bug in the I2C hardware implementation on the pi since I had to revert to using the regular arduino Wire library.
What I’m after is to let the balboa board deal with all the low level stuff, such as reading the gyro, accelerometer, controlling the tilt angle etc, and let the pi deal with navigation, and external controls.
Is there an alternative to I2C for communication between the pi and the balboa? I see that there are some General-purpose level shifters listed in the docs but have no idea on how to use them. Could I set up a serial connection or some other TWI between the Pi and the Balboa? Is there another option or other pins that are shared that I can use?