[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

platforms/chibios/_wait.h

@@ -30,6 +30,11 @@
 
 #ifdef WAIT_US_TIMER
 void wait_us(uint16_t duration);
+#elif PORT_SUPPORTS_RT == TRUE
+#    define wait_us(us)                                            \
+        do {                                                       \
+            chSysPolledDelayX(US2RTC(REALTIME_COUNTER_CLOCK, us)); \
+        } while (0)
 #else
 #    define wait_us(us)                     \
         do {                                \