HAL_ChibiOS: cleanup cube IMUs and compasses

[peterbarker]

don't probe for old sensor set

Replaces https://github.com/ArduPilot/ardupilot/pull/13135/files as the rebase was non-trivial and I didn't want to force-push that other branch.

I've flashed this onto a CubeOrange here and I still get a mag and three IMUs.

MANUAL> BARO1_DEVID: bus_type:SPI(2)  bus:4 address:2(0x2) devtype:11(0xb) BARO_MS5611 (721442)
BARO2_DEVID: bus_type:SPI(2)  bus:1 address:3(0x3) devtype:11(0xb) BARO_MS5611 (721674)
COMPASS_DEV_ID: bus_type:SPI(2)  bus:4 address:1(0x1) devtype:9(0x9) AK09916 (590114)
COMPASS_PRIO1_ID: bus_type:SPI(2)  bus:4 address:1(0x1) devtype:9(0x9) AK09916 (590114)
INS_GYR_ID: bus_type:SPI(2)  bus:4 address:4(0x4) devtype:47(0x2f) INS_ICM20602 (3081250)
INS_GYR2_ID: bus_type:SPI(2)  bus:4 address:1(0x1) devtype:44(0x2c) INS_ICM20948 (2883874)
INS_GYR3_ID: bus_type:SPI(2)  bus:1 address:4(0x4) devtype:46(0x2e) INS_ICM20649 (3015690)
INS_ACC_ID: bus_type:SPI(2)  bus:4 address:4(0x4) devtype:47(0x2f) INS_ICM20602 (3081250)
INS_ACC2_ID: bus_type:SPI(2)  bus:4 address:1(0x1) devtype:44(0x2c) INS_ICM20948 (2883874)
INS_ACC3_ID: bus_type:SPI(2)  bus:1 address:4(0x4) devtype:46(0x2e) INS_ICM20649 (3015690)

Note that @bugobliterator already approved tridge's PR.