HAL_ChibiOS: first IMU working

libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat

@@ -82,8 +82,8 @@ PG6  VDD_5V_WIFI_EN OUTPUT HIGH
 PG7  VDD_3V3_SD_CARD_EN OUTPUT HIGH
 
 SPIDEV ms5611         SPI4 DEVID1  MS5611_CS    MODE3 20*MHZ 20*MHZ
-SPIDEV mpu6000        SPI1 DEVID1  ICM20689_CS  MODE3  1*MHZ  1*MHZ
-SPIDEV mpu60002       SPI1 DEVID2  ICM20602_CS  MODE3  1*MHZ  1*MHZ
+SPIDEV mpu6000        SPI1 DEVID1  ICM20689_CS  MODE0  1*MHZ  1*MHZ
+SPIDEV icm20602       SPI1 DEVID2  ICM20602_CS  MODE0  1*MHZ  1*MHZ
 SPIDEV bmi055_g       SPI1 DEVID3  BMI055_G_CS  MODE3  8*MHZ  8*MHZ
 SPIDEV bmi055_a       SPI1 DEVID4  BMI055_A_CS  MODE3  8*MHZ  8*MHZ
 SPIDEV ramtron        SPI2 DEVID1  FRAM_CS      MODE3  8*MHZ  8*MHZ 
@@ -104,4 +104,4 @@ define CH_DBG_ENABLE_CHECKS TRUE
 define CH_DBG_SYSTEM_STATE_CHECK TRUE
 define CH_DBG_ENABLE_STACK_CHECK TRUE
 
-define HAL_SPI_CHECK_CLOCK_FREQ 1
+# define HAL_SPI_CHECK_CLOCK_FREQ 1