[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
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14 changed files with 126 additions and 31 deletions
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@ -15,14 +15,7 @@
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <stdbool.h>
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#include <string.h>
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#include "hal.h"
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#include "timer.h"
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#include "wait.h"
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#include "debug.h"
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#include "matrix.h"
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#include "quantum.h"
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/*
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* col: { B11, B10, B2, B1, A7, B0 }
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@ -38,9 +31,13 @@ __attribute__((weak)) void matrix_init_user(void) {}
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__attribute__((weak)) void matrix_scan_user(void) {}
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__attribute__((weak)) void matrix_init_kb(void) { matrix_init_user(); }
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__attribute__((weak)) void matrix_init_kb(void) {
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matrix_init_user();
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}
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__attribute__((weak)) void matrix_scan_kb(void) { matrix_scan_user(); }
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__attribute__((weak)) void matrix_scan_kb(void) {
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matrix_scan_user();
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}
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void matrix_init(void) {
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dprintf("matrix init\n");
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@ -146,9 +143,13 @@ uint8_t matrix_scan(void) {
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return 1;
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}
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bool matrix_is_on(uint8_t row, uint8_t col) { return (matrix[row] & (1 << col)); }
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bool matrix_is_on(uint8_t row, uint8_t col) {
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return (matrix[row] & (1 << col));
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}
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matrix_row_t matrix_get_row(uint8_t row) { return matrix[row]; }
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matrix_row_t matrix_get_row(uint8_t row) {
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return matrix[row];
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}
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void matrix_print(void) {
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dprintf("\nr/c 01234567\n");
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