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* Add correct hand_swap_config matrix for planck_rev6 and planck_rev6_drop
* Make sure indentations are consistent
* Make the rev6 hand_swap_config matrix the default, also correct for ez.
* Move hand_swap_config matrix from planck.c to revision subdirectories
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* Use polled waiting on platforms that support it
Due to context switching overhead waiting a very short amount of time on
a sleeping thread is often not accurate and in fact not usable for timing
critical usage i.e. in a driver. Thus we use polled waiting for ranges
in the us range on platforms that support it instead. The fallback is
the thread sleeping mechanism.
This includes:
* ARM platforms with CYCCNT register (ARMv7, ARMv8) this is
incremented at CPU clock frequency
* GD32VF103 RISC-V port with CSR_MCYCLE register this is incremented at
CPU clock frequency
* RP2040 ARMv6 port which uses the integrated timer peripheral which is
incremented with a fixed 1MHz frequency
* Use wait_us() instead of chSysPolledDelayX
...as it is powered by busy waiting now.
* Add chibios waiting methods test bench
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(#16655)
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Co-authored-by: daskygit <32983009+daskygit@users.noreply.github.com>
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Co-authored-by: Ryan <fauxpark@gmail.com>
Co-authored-by: Jack Humbert <jack.humb@gmail.com>
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