ar100: Support for ar100 (#6054)

Add files to support AR100

Signed-off-by: Elias Bakken <[email protected]>

docs/Benchmarks.md

@@ -354,6 +354,27 @@ micro-controller.
 | 1 stepper (200Mhz)   | 39    |
 | 3 stepper (200Mhz)   | 181   |
 
+### AR100 step rate benchmark ###
+
+The following configuration sequence is used on AR100 CPU (Allwinner A64):
+```
+allocate_oids count=3
+config_stepper oid=0 step_pin=PL10 dir_pin=PE14 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=1 step_pin=PL11 dir_pin=PE15 invert_step=-1 step_pulse_ticks=0
+config_stepper oid=2 step_pin=PL12 dir_pin=PE16 invert_step=-1 step_pulse_ticks=0
+finalize_config crc=0
+
+```
+
+The test was last run on commit `08d037c6` with gcc version
+`or1k-linux-musl-gcc (GCC) 9.2.0` on an Allwinner A64-H
+micro-controller.
+
+| AR100 R_PIO          | ticks |
+| -------------------- | ----- |
+| 1 stepper            | 85    |
+| 3 stepper            | 359   |
+
 ### RP2040 step rate benchmark
 
 The following configuration sequence is used on the RP2040:
@@ -425,6 +446,7 @@ hub.
 | atmega2560 (serial) |  23K | b161a69e | avr-gcc (GCC) 4.8.1 |
 | sam3x8e (serial)    |  23K | b161a69e | arm-none-eabi-gcc (Fedora 7.1.0-5.fc27) 7.1.0 |
 | at90usb1286 (USB)   |  75K | 01d2183f | avr-gcc (GCC) 5.4.0 |
+| ar100 (serial)      | 138K | 08d037c6 | or1k-linux-musl-gcc 9.3.0 |
 | samd21 (USB)        | 223K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |
 | pru (shared memory) | 260K | c5968a08 | pru-gcc (GCC) 8.0.0 20170530 (experimental) |
 | stm32f103 (USB)     | 355K | 01d2183f | arm-none-eabi-gcc (Fedora 7.4.0-1.fc30) 7.4.0 |

docs/Features.md

@@ -185,6 +185,7 @@ represent total number of steps per second on the micro-controller.
 | RP2040                          | 2400K             | 1636K             |
 | SAM4E8E                         | 2500K             | 1674K             |
 | SAMD51                          | 3077K             | 1885K             |
+| AR100                           | 3529K             | 2507K             |
 | STM32F407                       | 3652K             | 2459K             |
 | STM32F446                       | 3913K             | 2634K             |
 | STM32H743                       | 9091K             | 6061K             |

lib/README

@@ -125,6 +125,10 @@ from the repo's hc-sr04-range-sensor directory. It has been modified
 so that the IEP definitions compile correctly. See pru_rpmsg.patch for
 the modifications.
 
+The ar100 directory contains code from:
+  https://github.com/crust-firmware/crust
+revision 966124af914ce611aadd06fbbcbc4c36c4a0b240
+
 The fast-hash directory contains code from:
   https://github.com/ztanml/fast-hash
 revision ae3bb53c199fe75619e940b5b6a3584ede99c5fc