Macchinas' documentation was very helpful in getting me up to speed with their product! The team at maccinainc made themselves available through slack when I had questions about how things worked (and even offered some help!). They also responded promptly once we started working together - which really helped my confidence as well since they were so willing put out there time into helping us get it right from day 1!! We are using them primarily because our needs fit what's provided by other solutions but if you need something custom then this should be your first choice too. It solved all problems related to hardware abstraction layer development without having any experience specifically dealing wth linux device drivers / firmware management etc..