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The formal I2C and SPI drivers for ESP32 (ESP-IDF) are not yet available. The ESP32 is a new device to the market and there is some lag between release and finalization of the drivers. In the meantime, you might want to look at the ESP32-Arduino project which does have SPI/I2C support. We should anticipate I2C and SPI drivers within a few months (opinion).
Free book on ESP32 available here: https://leanpub.com/kolban-ESP32
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