Migration from MPU 9250 to ICM-20948 has to be done. We do have a complex software running on Arm Cortex processor STM 32F427 and it is not so simple to migrate as it is written and talked at invensense. Registers, codes etc. are real different, our softwaredepartment who has written the code is completely booked with other things.So please it would be urgent to get help or if you know somebody who iis able to do that please contact or forward this mail: info@betz-tools.com