HAL_ChibiOS: use DRDY pin for ADIS16470 on mRoNexus

libraries/AP_HAL_ChibiOS/GPIO.cpp

@@ -363,8 +363,9 @@ bool GPIO::wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_u
     g->thd_wait = nullptr;
     _attach_interruptI(g->pal_line,
                        palcallback_t(nullptr),
-                       g,
+                       nullptr,
                        mode);
     osalSysUnlock();
-    return msg != MSG_TIMEOUT;
+
+    return msg == MSG_OK;
 }

libraries/AP_HAL_ChibiOS/hwdef/mRoNexus/hwdef.dat

@@ -125,10 +125,12 @@ define BOARD_PWM_COUNT_DEFAULT 0
 
 # This is the invensense data-ready pin. We don't use it in the
 # default driver.
-PD8  DRDY_ADIS16470 INPUT
+PD8  DRDY_ADIS16470 INPUT GPIO(93)
 PE13 DRDY_ICM40609D INPUT 
 PC13 DRDY_RM3100 INPUT
 
+define HAL_DRDY_ADIS16470_PIN 93
+
 # This is the reset line for the adis16470
 PB1 nRST_ADIS OUTPUT HIGH GPIO(74)
 
@@ -175,7 +177,7 @@ define HAL_GPIO_B_LED_PIN 1
 define HAL_GPIO_C_LED_PIN 2
 
 # 2 IMUs (Analog Devices ADIS16470 and Invensense / TDK ICM40609D)
-IMU ADIS1647x      SPI:adis16470 ROTATION_ROLL_180  
+IMU ADIS1647x      SPI:adis16470 ROTATION_ROLL_180 HAL_DRDY_ADIS16470_PIN
 # IMU Invensense   SPI:icm40609d ROTATION_NONE  
 #! ^^Need to confirm orientation