Have a look at the
Porting to new hardware section in the
Customization Guide. Perhaps that is what you saw? You might also find some benefit in looking through the
Notes for Developers guide.
In terms of where to do your development/keep your driver - it's entirely up to you. A public GitHub repo is great, makes reversion easy and gives you an offsite backup in case the worst happens. Depending on what you want to do with GitHub it can be a bit daunting at first, but the effort is well worth it. The big plus for others is that users of the same/similar hardware now have access to a driver.
Gary