[Core] Use polled waiting on ChibiOS platforms that support it (#17607)

* 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

keyboards/handwired/onekey/rp2040/config.h

@@ -6,10 +6,15 @@
 #include "config_common.h"
 
 #define PRODUCT Onekey Raspberry Pi RP2040
-#define MATRIX_COL_PINS { GP4 }
-#define MATRIX_ROW_PINS { GP5 }
+#define MATRIX_COL_PINS \
+    { GP4 }
+#define MATRIX_ROW_PINS \
+    { GP5 }
 #define DEBUG_MATRIX_SCAN_RATE
 
+#define QMK_WAITING_TEST_BUSY_PIN GP8
+#define QMK_WAITING_TEST_YIELD_PIN GP9
+
 #define RP2040_BOOTLOADER_DOUBLE_TAP_RESET
 #define RP2040_BOOTLOADER_DOUBLE_TAP_RESET_LED GP25
 #define RP2040_BOOTLOADER_DOUBLE_TAP_RESET_TIMEOUT 500U