Edit to add: if you're a hobbyist, don't let any doubts stop you from designing and building whatever 6502-related project takes your fancy. If you're a business, take legal advice.
Johnny Starr wrote:
There are many software implementations of the 6502
...
The general consensus on the internet, is it is in fact legal to develop and distribute emulators, but I'm not sure what the legal basis is for this.
There's a lot of information on the internet! What you're looking for is a legal opinion, but where you're asking is a forum on the internet. I've certainly got an opinion about this, and indeed I believe my opinion is well-founded, but why should you believe me rather than anything else anyone writes?
You need one of two things: a legal opinion from a professional who puts their reputation and professional status behind what they say; or an understanding of how IP law works and the various kinds of protections available to products, inventions, and names. To get that understanding you need to do some study, and you need to be able to distinguish trusted and untrusted sources of information, as well as distinguishing the different kinds of protections.
I could write about what I believe I know, and elsewhere I may have done, but it's not going to carry any special weight.
(But to summarise, I believe there's nothing protected about the behaviour of sufficiently old circuits, and nothing protected about the 6502 instruction set or the mnemonics. You need to understand and distinguish copyright, mask copyright, patents, design patents, trademarks. You need to distinguish hardware from software, and understand the status of microcode. You need to understand the difference between an emulator and the software you run on the emulator. You may well need to understand the history of copyright as it applies to masks, to software in both source form and binary form, and to firmware. Fortunately, there is no microcode in the 6502.)
If you were making a product to sell, you'd certainly get legal advice, or you'd take your own advice, at your own risk. You'd be forming a view about the state of the law and the stance of the intellectual property holders.