feat(boards): add LSM6DSV support for Kakute H7 Wing (#28780)

* feat(boards): add LSM6DSV support for Kakute H7 Wing

* fix(boards): lower Kakute H7 Wing OSD work queue priority

Run SPI2 below the SPI3 IMU queue to reduce delays caused by ATXXXX updates.

boards/holybro/kakuteh7-wing/default.px4board

@@ -1,6 +1,7 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_WQ_SPI2_PRIORITY=-5
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
@@ -17,6 +18,7 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_IMU_ST_LSM6DSV=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_OSD_ATXXXX=y

boards/holybro/kakuteh7-wing/init/rc.board_sensors

@@ -4,8 +4,11 @@
 #------------------------------------------------------------------------------
 board_adc start
 
-# Internal SPI bus ICM42688p
-icm42688p -R 2 -s start
+# Internal SPI IMU on SPI3 (same CS): ICM42688P or LSM6DSV
+if ! icm42688p -R 2 -s -q start
+then
+	lsm6dsv -R 2 -s start
+fi
 
 # Internal baro
 if ! bmp280 -I -b 4 -q start

boards/holybro/kakuteh7-wing/src/spi.cpp

@@ -46,6 +46,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}),
 	initSPIBus(SPI::Bus::SPI3, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortE, GPIO::Pin12}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ST_LSM6DSV, SPI::CS{GPIO::PortE, GPIO::Pin12}, SPI::DRDY{GPIO::PortE, GPIO::Pin15}),
 	}),
 };