LoRa node acquiring random float value and sending to LoRa Server - Working ok
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Diff: Arduino-mbed-APIs/arduino-mbed.cpp
- Revision:
- 71:7067e67902a8
- Parent:
- 70:1d496aae2819
- Child:
- 75:7330dd86cdea
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Arduino-mbed-APIs/arduino-mbed.cpp Sun Jul 23 16:09:55 2017 +0200 @@ -0,0 +1,667 @@ +/* + * The file is Licensed under the Apache License, Version 2.0 + * (c) 2017 Helmut Tschemernjak + * 30826 Garbsen (Hannover) Germany + */ + +#ifdef ARDUINO + +using namespace std; + +#include "arduino-mbed.h" + + +static void pinInt00(void); +static void pinInt01(void); +static void pinInt02(void); +static void pinInt03(void); +static void pinInt04(void); +static void pinInt05(void); +static void pinInt06(void); +static void pinInt07(void); +static void pinInt08(void); +static void pinInt09(void); +static void pinInt10(void); +static void pinInt11(void); +static void pinInt12(void); +static void pinInt13(void); +static void pinInt14(void); +static void pinInt15(void); +static void pinInt16(void); +static void pinInt17(void); +static void pinInt18(void); +static void pinInt19(void); +static void pinInt20(void); +static void pinInt21(void); +static void pinInt22(void); +static void pinInt23(void); +static void pinInt24(void); +static void pinInt25(void); +static void pinInt26(void); +static void pinInt27(void); +static void pinInt28(void); +static void pinInt29(void); +static void pinInt30(void); +static void pinInt31(void); +static void pinInt32(void); +static void pinInt33(void); +static void pinInt34(void); +static void pinInt35(void); +static void pinInt36(void); +static void pinInt37(void); +static void pinInt38(void); +static void pinInt39(void); +static void pinInt40(void); +static void pinInt41(void); +static void pinInt42(void); +static void pinInt43(void); +static void pinInt44(void); +static void pinInt45(void); +static void pinInt46(void); +static void pinInt47(void); + + + +#define MAX_MCU_PINS 48 +class InterruptIn; +struct intPtrTable { + void (*func)(void); + InterruptIn *context; +} intPtrTable[MAX_MCU_PINS] = { + { pinInt00, NULL }, + { pinInt01, NULL }, + { pinInt02, NULL }, + { pinInt03, NULL }, + { pinInt04, NULL }, + { pinInt05, NULL }, + { pinInt06, NULL }, + { pinInt07, NULL }, + { pinInt08, NULL }, + { pinInt09, NULL }, + { pinInt10, NULL }, + { pinInt11, NULL }, + { pinInt12, NULL }, + { pinInt13, NULL }, + { pinInt14, NULL }, + { pinInt15, NULL }, + { pinInt16, NULL }, + { pinInt17, NULL }, + { pinInt18, NULL }, + { pinInt19, NULL }, + { pinInt20, NULL }, + { pinInt21, NULL }, + { pinInt22, NULL }, + { pinInt23, NULL }, + { pinInt24, NULL }, + { pinInt25, NULL }, + { pinInt26, NULL }, + { pinInt27, NULL }, + { pinInt28, NULL }, + { pinInt29, NULL }, + { pinInt30, NULL }, + { pinInt31, NULL }, + { pinInt32, NULL }, + { pinInt33, NULL }, + { pinInt34, NULL }, + { pinInt35, NULL }, + { pinInt36, NULL }, + { pinInt37, NULL }, + { pinInt38, NULL }, + { pinInt39, NULL }, + { pinInt40, NULL }, + { pinInt41, NULL }, + { pinInt42, NULL }, + { pinInt43, NULL }, + { pinInt44, NULL }, + { pinInt45, NULL }, + { pinInt46, NULL }, + { pinInt47, NULL } +}; // our max MCUs pins + + + +static void pinInt00(void) { InterruptIn::_irq_handler(intPtrTable[0].context); } +static void pinInt01(void) { InterruptIn::_irq_handler(intPtrTable[1].context); } +static void pinInt02(void) { InterruptIn::_irq_handler(intPtrTable[2].context); } +static void pinInt03(void) { InterruptIn::_irq_handler(intPtrTable[3].context); } +static void pinInt04(void) { InterruptIn::_irq_handler(intPtrTable[4].context); } +static void pinInt05(void) { InterruptIn::_irq_handler(intPtrTable[5].context); } +static void pinInt06(void) { InterruptIn::_irq_handler(intPtrTable[6].context); } +static void pinInt07(void) { InterruptIn::_irq_handler(intPtrTable[7].context); } +static void pinInt08(void) { InterruptIn::_irq_handler(intPtrTable[8].context); } +static void pinInt09(void) { InterruptIn::_irq_handler(intPtrTable[9].context); } +static void pinInt10(void) { InterruptIn::_irq_handler(intPtrTable[10].context); } +static void pinInt11(void) { InterruptIn::_irq_handler(intPtrTable[11].context); } +static void pinInt12(void) { InterruptIn::_irq_handler(intPtrTable[12].context); } +static void pinInt13(void) { InterruptIn::_irq_handler(intPtrTable[13].context); } +static void pinInt14(void) { InterruptIn::_irq_handler(intPtrTable[14].context); } +static void pinInt15(void) { InterruptIn::_irq_handler(intPtrTable[15].context); } +static void pinInt16(void) { InterruptIn::_irq_handler(intPtrTable[16].context); } +static void pinInt17(void) { InterruptIn::_irq_handler(intPtrTable[17].context); } +static void pinInt18(void) { InterruptIn::_irq_handler(intPtrTable[18].context); } +static void pinInt19(void) { InterruptIn::_irq_handler(intPtrTable[19].context); } +static void pinInt20(void) { InterruptIn::_irq_handler(intPtrTable[20].context); } +static void pinInt21(void) { InterruptIn::_irq_handler(intPtrTable[21].context); } +static void pinInt22(void) { InterruptIn::_irq_handler(intPtrTable[22].context); } +static void pinInt23(void) { InterruptIn::_irq_handler(intPtrTable[23].context); } +static void pinInt24(void) { InterruptIn::_irq_handler(intPtrTable[24].context); } +static void pinInt25(void) { InterruptIn::_irq_handler(intPtrTable[25].context); } +static void pinInt26(void) { InterruptIn::_irq_handler(intPtrTable[26].context); } +static void pinInt27(void) { InterruptIn::_irq_handler(intPtrTable[27].context); } +static void pinInt28(void) { InterruptIn::_irq_handler(intPtrTable[28].context); } +static void pinInt29(void) { InterruptIn::_irq_handler(intPtrTable[29].context); } +static void pinInt30(void) { InterruptIn::_irq_handler(intPtrTable[30].context); } +static void pinInt31(void) { InterruptIn::_irq_handler(intPtrTable[31].context); } +static void pinInt32(void) { InterruptIn::_irq_handler(intPtrTable[32].context); } +static void pinInt33(void) { InterruptIn::_irq_handler(intPtrTable[33].context); } +static void pinInt34(void) { InterruptIn::_irq_handler(intPtrTable[34].context); } +static void pinInt35(void) { InterruptIn::_irq_handler(intPtrTable[35].context); } +static void pinInt36(void) { InterruptIn::_irq_handler(intPtrTable[36].context); } +static void pinInt37(void) { InterruptIn::_irq_handler(intPtrTable[37].context); } +static void pinInt38(void) { InterruptIn::_irq_handler(intPtrTable[38].context); } +static void pinInt39(void) { InterruptIn::_irq_handler(intPtrTable[39].context); } +static void pinInt40(void) { InterruptIn::_irq_handler(intPtrTable[40].context); } +static void pinInt41(void) { InterruptIn::_irq_handler(intPtrTable[41].context); } +static void pinInt42(void) { InterruptIn::_irq_handler(intPtrTable[42].context); } +static void pinInt43(void) { InterruptIn::_irq_handler(intPtrTable[43].context); } +static void pinInt44(void) { InterruptIn::_irq_handler(intPtrTable[44].context); } +static void pinInt45(void) { InterruptIn::_irq_handler(intPtrTable[45].context); } +static void pinInt46(void) { InterruptIn::_irq_handler(intPtrTable[46].context); } +static void pinInt47(void) { InterruptIn::_irq_handler(intPtrTable[47].context); } + + + + +void +InterruptIn::rise(Callback<void()> func) { + if (_gpioPin >= MAX_MCU_PINS-1) + return; + if (func) { + _func = func; + intPtrTable[_gpioPin].context = this; + attachInterrupt(MYdigitalPinToInterrupt(_gpioPin), intPtrTable[_gpioPin].func, RISING); + } else { + _func = InterruptIn::donothing; + intPtrTable[_gpioPin].context = NULL; + detachInterrupt(_gpioPin); + } +}; + +void +InterruptIn::fall(Callback<void()> func) { + if (func) { + _func = func; + intPtrTable[_gpioPin].context = this; + attachInterrupt(MYdigitalPinToInterrupt(_gpioPin), intPtrTable[_gpioPin].func, FALLING); + } else { + _func = InterruptIn::donothing; + intPtrTable[_gpioPin].context = NULL; + detachInterrupt(_gpioPin); + } +} + + +#define MAX_TIMEOUTS 10 +class Timeout; +struct TimeoutVector { + Timeout *timer; +} TimeOuts[MAX_TIMEOUTS]; + + +#if defined(__SAMD21G18A__) || defined(__SAMD21J18A__) +/* + * __SAMD21J18A__ is the SamD21 Explained Board + * __SAMD21G18A__ is Genuino Zero-Board (compatible with the LoRa board) + */ + +/* + * see tcc.h is automatically included from: + * Arduino15/packages/arduino/tools/CMSIS-Atmel/1.1.0/CMSIS/ + * Device/ATMEL/samd21/include/component/tcc.h + * See also tcc.c (ASF/mbed, e.g. Tcc_get_count_value) + */ +static void initTimer(Tcc *t); +static uint32_t getTimerCount(Tcc *t); + +/* + * The Atmel D21 has three TCC timer, other models have more. + */ +static const struct TCC_config { + Tcc *tcc_ptr; + IRQn_Type tcc_irq; + uint8_t nbits; +} TCC_data[] { + { TCC0, TCC0_IRQn, 24 }, + { TCC1, TCC1_IRQn, 24 }, + { TCC2, TCC2_IRQn, 16 }, + { NULL, (IRQn_Type)NULL, 0 } +}; + +/* + * We preferably use the TCC timers because it supports 24-bit counters + * versus TC Timer which supports only 8 or 16 bit counters + * TCC0/1/2 timer work on the D21 using Arduino. + */ +#define USE_TCC_TIMEOUT 0 // 0=TCC0, 1=TTC1, 2=TTC2 (see TCC_data) +#define USE_TCC_TICKER 1 + + +/* + * every 21333 ns equals one tick (1/(48000000/1024)) // prescaler 1024, 48 MHz + * every 61035 ns equals one tick (1/(32768/2)) // prescaler 2, 32 kHz + * COUNT*DIVIDER*SECS until interrupt + * CPU 48 MHz = (65536*1024)/1.398636s + * RTC 32 kHz = (65536*2)/4.0s + */ +#define NS_PER_CLOCK_CPU 21333 // ns secs per clock +#define NS_PER_CLOCK_RTC 61035 // ns secs per clock + +#define NS_PER_CLOCK NS_PER_CLOCK_RTC + +/* ----------------- TICKER TIMER CODE ----------------------*/ + +/* + * The global ns_counter contains the time in ns from the last time + * the counter has been wrapped. It cannot be used directly because the + * current counter has to be added fore using it. Use instead + * ns_getTicker(), us_ ns_getTicker(), ms_getTicker() + */ + +uint64_t ticker_ns; +static bool initTickerDone = false; + +uint32_t s_getTicker(void) +{ + long long ns = ns_getTicker(); + ns /= (long long)1000000000; // to secs + + int secs = ns; + return secs; +} + + +uint32_t ms_getTicker(void) +{ + uint32_t us = us_getTicker(); + + us /= 1000; // to ms + return us; +} + +uint32_t us_getTicker(void) +{ + long long ns = ns_getTicker(); + + ns /= (long long)1000; // to us + uint32_t us = ns & 0xffffffff; + + return us; +} + + +uint64_t ns_getTicker(void) +{ + Tcc *t = TCC_data[USE_TCC_TICKER].tcc_ptr; + if (!initTickerDone) { + initTimer(t); + initTickerDone = true; + + // set counter top to max 16 bit for testing + // t->PER.bit.PER = 0xffff; + // while (t->SYNCBUSY.bit.PER == 1); // wait for sync + + t->CTRLA.reg |= TCC_CTRLA_ENABLE ; // Enable TC + while (t->SYNCBUSY.bit.ENABLE == 1); // wait for sync + } + + /* + * if we are called from the interrupt level, the counter contains + * somehow wrong data, therfore we needs to read it twice. + * Another option was to add a little wait (loop 500x) + * in the TCC_TIMEOUT interrupt handler. + */ + if (SCB->ICSR & SCB_ICSR_VECTACTIVE_Msk) // check if we are in the interrupt + getTimerCount(t); + + uint64_t counter_us = (uint64_t)NS_PER_CLOCK * (uint64_t)getTimerCount(t); + uint64_t ns = ticker_ns + counter_us; + + return ns; +} + +#if USE_TCC_TICKER == 0 +void TCC0_Handler() +#elif USE_TCC_TICKER == 1 +void TCC1_Handler() +#elif USE_TCC_TICKER == 2 +void TCC2_Handler() +#endif +{ + Tcc *t = TCC_data[USE_TCC_TICKER].tcc_ptr; + /* + * Overflow means the timer top exeeded + */ + if (t->INTFLAG.bit.OVF == 1) { // A overflow caused the interrupt + t->INTFLAG.bit.OVF = 1; // writing a one clears the flag ovf flag + // Serial.println("T_OVF"); + + /* + * reading the count once is needed, otherwise + * it will not wrap correct. + */ + getTimerCount(t); + + int bits = TCC_data[USE_TCC_TICKER].nbits; + int maxCounts = (uint32_t)(1<<bits); + + ticker_ns += (uint64_t)NS_PER_CLOCK * (uint64_t)maxCounts; + } + if (t->INTFLAG.bit.MC0 == 1) { // A compare to cc0 caused the interrupt + t->INTFLAG.bit.MC0 = 1; // writing a one clears the MCO (match capture) flag + // Serial.println("T_MC0"); + } +} + +/* ----------------- SUPPORT CODE FOR TCC TIMERS----------------------*/ + +static bool initTimerDone = false; + +static void initTimer(Tcc *t) +{ + + /* + * enable clock for TCC, see gclk.h + * GCLK_CLKCTRL_GEN_GCLK0 for 48 Mhz CPU + * GCLK_CLKCTRL_GEN_GCLK1 for 32k extern crystal XOSC32K (ifdef CRYSTALLESS) + * GCLK_CLKCTRL_GEN_GCLK1 for 32k internal OSC32K + * see Arduino: arduino/hardware/samd/1.6.15/cores/arduino/startup.c + * Use TCC_CTRLA_PRESCALER_DIV1024 for for 48 Mhz clock + * Use TCC_CTRLA_PRESCALER_DIV2 for 32k clock + */ + if (t == TCC0 || t == TCC1) { + REG_GCLK_CLKCTRL = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK1 | GCLK_CLKCTRL_ID_TCC0_TCC1); + } else if (t == TCC2) { + REG_GCLK_CLKCTRL = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK1 | GCLK_CLKCTRL_ID_TCC2_TC3_Val); + } + while (GCLK->STATUS.bit.SYNCBUSY == 1); // wait for sync + + t->CTRLA.reg &= ~TCC_CTRLA_ENABLE; // Disable TCC + while (t->SYNCBUSY.bit.ENABLE == 1); // wait for sync + + t->CTRLA.reg |= (TCC_CTRLA_PRESCALER_DIV2 | TCC_CTRLA_RUNSTDBY); // Set perscaler + + t->WAVE.reg |= TCC_WAVE_WAVEGEN_NFRQ; // Set wave form configuration + while (t->SYNCBUSY.bit.WAVE == 1); // wait for sync + + t->PER.bit.PER = 0xffffff; // set counter top to max 24 bit + while (t->SYNCBUSY.bit.PER == 1); // wait for sync + + // the compare counter TC->CC[0].reg will be set in the startTimer + // after the timeout calculation is known. + + // Interrupts + t->INTENSET.reg = 0; // disable all interrupts + t->INTENSET.bit.OVF = 1; // enable overfollow + t->INTENSET.bit.MC0 = 1; // enable compare match to CC0 + + const struct TCC_config *cp = &TCC_data[0]; + while (cp->tcc_ptr) { + if (cp->tcc_ptr == t) { + NVIC_EnableIRQ(cp->tcc_irq); // Enable InterruptVector + break; + } + cp++; + } +} + +#if 0 +// Atmel ASF Code +static uint32_t getTimerCount(Tcc *t) +{ + uint32_t last_cmd; + /* Wait last command done */ + do { + while (t->SYNCBUSY.bit.CTRLB); /* Wait for sync */ + + last_cmd = t->CTRLBSET.reg & TCC_CTRLBSET_CMD_Msk; + if (TCC_CTRLBSET_CMD_NONE == last_cmd) { + /* Issue read command and break */ + t->CTRLBSET.bit.CMD = TCC_CTRLBSET_CMD_READSYNC_Val; + break; + } else if (TCC_CTRLBSET_CMD_READSYNC == last_cmd) { + /* Command have been issued */ + break; + } + } while (1); + + while (t->SYNCBUSY.bit.COUNT); /* Wait for sync */ + + return t->COUNT.reg; +} +#endif + + +static uint32_t getTimerCount(Tcc *t) +{ + + noInterrupts(); + + while (t->SYNCBUSY.bit.CTRLB); /* Wait for sync */ + + t->CTRLBSET.bit.CMD = TCC_CTRLBSET_CMD_READSYNC_Val; /* Issue read command and break */ + + while (t->SYNCBUSY.bit.COUNT); /* Wait for sync */ + + uint32_t count = t->COUNT.reg; + + interrupts(); + + return count; +} + + +static void stopTimer(Tcc *t) +{ + t->CTRLA.reg &= ~TCC_CTRLA_ENABLE; // Disable TC + while (t->SYNCBUSY.bit.ENABLE == 1); // wait for sync +} + + +/* ----------------- TIMEOUT TIMER CODE ----------------------*/ + +static void startTimer(Tcc *t, uint64_t delay_ns) +{ + if (!initTimerDone) { + initTimer(t); // initial setup with stopped timer + initTimerDone = true; + } + + stopTimer(t); // avoid timer interrupts while calculating + + /* + * every 21333 ns equals one tick (1/(48000000/1024)) + * COUNT*DIVIDER*SECS until interrupt + * 48 Mhz = (65536*1024)/1.398636s + */ + uint64_t nclocks = (uint64_t)delay_ns; + nclocks /= (uint64_t)NS_PER_CLOCK; + int nCounts = nclocks; + + int bits = TCC_data[USE_TCC_TIMEOUT].nbits; + int maxCounts = (uint32_t)(1<<bits)-1; + + if (nCounts > maxCounts) // if count exceeds timer capacity + nCounts = maxCounts; // set the largest posible count. + if (nCounts <= 0) + nCounts = 1; + t->CC[0].bit.CC = nCounts; + while (t->SYNCBUSY.bit.CC0 == 1); // wait for sync + + t->CTRLA.reg |= TCC_CTRLA_ENABLE ; // Enable TC + while (t->SYNCBUSY.bit.ENABLE == 1); // wait for sync +#if 0 + Serial.print(ms_getTicker(), DEC); + Serial.print(" startTimer: nCounts="); + Serial.println(nCounts, DEC); +#endif +} + + +#if USE_TCC_TIMEOUT == 0 +void TCC0_Handler() +#elif USE_TCC_TIMEOUT == 1 +void TCC1_Handler() +#elif USE_TCC_TIMEOUT == 2 +void TCC2_Handler() +#endif +{ + Tcc *t = TCC_data[USE_TCC_TIMEOUT].tcc_ptr; + uint64_t nsecs = ns_getTicker(); + + /* + * Overflow means the max timer exeeded, we need restart the timer + * Interrupts and + */ + if (t->INTFLAG.bit.OVF == 1) { // A overflow caused the interrupt + t->INTFLAG.bit.OVF = 1; // writing a one clears the flag ovf flag + } + + if (t->INTFLAG.bit.MC0 == 1) { // A compare to cc0 caused the interrupt + //Serial.print("MC0\r\n"); + t->INTFLAG.bit.MC0 = 1; // writing a one clears the MCO (match capture) flag + } + + t->CTRLA.reg &= ~TCC_CTRLA_ENABLE; // Disable TC + while (t->SYNCBUSY.bit.ENABLE == 1); // wait for sync + + for (int i = 0; i < MAX_TIMEOUTS-1; i++) { + struct TimeoutVector *tvp = &TimeOuts[i]; + if (tvp->timer && nsecs >= tvp->timer->_timeout) { + Timeout *saveTimer = tvp->timer; + tvp->timer = NULL; + Timeout::_irq_handler(saveTimer); + } + } + /* + * we need to restart the timer for remaining interrupts + * Another reason is that we stopped this counter, in case there are + * remaining counts, we need to re-schedule the counter. + */ + Timeout::restart(); +} + + +#endif // D21 TCC Timer + +void +Timeout::insert(void) +{ + noInterrupts(); + for (int i = 0; i < MAX_TIMEOUTS-1; i++) { + struct TimeoutVector *tvp = &TimeOuts[i]; + if (tvp->timer == NULL) { + tvp->timer = this; + break; + } + } + interrupts(); +} + +void +Timeout::remove(void) +{ + noInterrupts(); + for (int i = 0; i < MAX_TIMEOUTS-1; i++) { + struct TimeoutVector *tvp = &TimeOuts[i]; + if (tvp->timer == this) { + tvp->timer = NULL; + break; + } + } + interrupts(); +} + + +void +Timeout::restart() +{ + Tcc *t = TCC_data[USE_TCC_TIMEOUT].tcc_ptr; + uint64_t timeout = ~0; + + /* + * find the lowest timeout value which is our the next timeout + * zero means stop the timer. + */ + noInterrupts(); + for (int i = 0; i < MAX_TIMEOUTS-1; i++) { + struct TimeoutVector *tvp = &TimeOuts[i]; + if (tvp->timer) { + if (tvp->timer->_timeout < timeout) { + timeout = tvp->timer->_timeout; + } + } + } + interrupts(); + + if (timeout == (uint64_t)~0) { + stopTimer(t); + return; + } + + uint64_t nsecs = ns_getTicker(); + + if (timeout > nsecs) { + startTimer(t, (uint64_t)timeout - (uint64_t)nsecs); + return; + } else { + startTimer(t, (uint64_t)1); // just one nsec to trigger interrrupt + } +} + +/* ----------------- D21 sleep() and deepsleep() code ----------------------*/ + +void sleep(void) +{ +#if 1 // (SAMD20 || SAMD21) + /* Errata: Make sure that the Flash does not power all the way down + * when in sleep mode. */ + NVMCTRL->CTRLB.bit.SLEEPPRM = NVMCTRL_CTRLB_SLEEPPRM_DISABLED_Val; +#endif + uint32_t saved_ms = ms_getTicker(); + SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk; // disbale SysTick + + SCB->SCR &= ~SCB_SCR_SLEEPDEEP_Msk; // clear deep sleep + PM->SLEEP.reg = 2; // SYSTEM_SLEEPMODE_IDLE_2 IDLE 2 sleep mode. + + __DSB(); // ensures the completion of memory accesses + __WFI(); // wait for interrupt + + int count = ms_getTicker() - saved_ms; + if (count > 0) { // update the Arduino Systicks + for (int i = 0; i < count; i++) { + SysTick_Handler(); + } + } + SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk; // enable SysTick +} + +void deepsleep(void) +{ +#if 1 // (SAMD20 || SAMD21) + /* Errata: Make sure that the Flash does not power all the way down + * when in sleep mode. */ + NVMCTRL->CTRLB.bit.SLEEPPRM = NVMCTRL_CTRLB_SLEEPPRM_DISABLED_Val; +#endif + + SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk; // disbale SysTick + + SCB->SCR |= SCB_SCR_SLEEPDEEP_Msk; // standby mode + + __DSB(); // ensures the completion of memory accesses + __WFI(); // wait for interrupt + + SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk; // enable SysTick +} + + +#endif // ARDUINO