Implemented cpu clocking, system tick and sleep. Tested, confirmed wo…

…rking

library/targets/hwlib-mimxrt1062.hpp

@@ -43,6 +43,53 @@ namespace mimxrt1062
         IOMUXC->SW_PAD_CTL_PAD[n] |= mask;
     }
 
+    /// the number of ticks per us
+    int_fast64_t HWLIB_WEAK ticks_per_us()
+    {
+        return 600; // this number should be the same as the cpu freq in Mhz
+    }
+
+    uint_fast64_t HWLIB_WEAK now_ticks()
+    {
+        static bool init_done = false;
+        if (!init_done)
+        {
+
+            // kill the watchdog
+            //WDT->WDT_MR = WDT_MR_WDDIS;
+
+            // switch to the 84 MHz crystal/PLL clock
+            //   sam3xa::SystemInit();
+
+            //   EFC0->EEFC_FMR = EEFC_FMR_FWS(4);
+            //   EFC1->EEFC_FMR = EEFC_FMR_FWS(4);
+
+            SysTick->CTRL = 0;        // stop the timer
+            SysTick->LOAD = 0xFFFFFF; // use its as a 24-bit timer
+            SysTick->VAL = 0;         // clear the timer
+            SysTick->CTRL = 5;        // start the timer, 1:1
+
+            init_done = true;
+        }
+
+        static unsigned int last_low = 0;
+        static unsigned long long int high = 0;
+
+        // the timer ticks down, but we want an up counter
+        unsigned int low = 0xFFFFFF - (SysTick->VAL & 0xFFFFFF);
+        if (low < last_low)
+        {
+
+            // the timer rolled over, so increment the high part
+            high += 0x1ULL << 24;
+        }
+        last_low = low;
+
+        // return the aggregated ticks value
+        // the counter runs at 84 MHz
+        return (low | high);
+    }
+
 } // namespace mimxrt1062
+
 #endif //HWLIB_MIMXRT1062
-

library/targets/hwlib-teensy_40.hpp

@@ -20,6 +20,8 @@
 #define TEENSY_40
 namespace teensy_40
 {
+    uint64_t ticks_per_us();
+    uint64_t now_us();
     /**
      * @brief This Struct contains information about the relation of the Teensy board pin with the chip Core.
      * 
@@ -184,5 +186,71 @@ namespace teensy_40
 namespace hwlib
 {
     namespace target = ::teensy_40;
+
+    #ifdef _HWLIB_ONCE
+    uint64_t now_ticks()
+    {
+        return mimxrt1062::now_ticks();
+    }
+
+    uint64_t ticks_per_us()
+    {
+        return mimxrt1062::ticks_per_us();
+    }
+
+    uint64_t now_us()
+    {
+        return now_ticks() / ticks_per_us();
+    }
+
+    // busy waits
+
+    void wait_ns_busy(int_fast32_t n)
+    {
+        wait_us_busy((n + 999) / 1000);
+    }
+
+    void wait_us_busy(int_fast32_t n)
+    {
+        auto end = now_us() + n;
+        while (now_us() < end)
+        {
+        }
+    }
+
+    void wait_ms_busy(int_fast32_t n)
+    {
+        while (n > 0)
+        {
+            wait_us_busy(1000);
+            --n;
+        }
+    }
+
+    // non-busy waits
+
+    void HWLIB_WEAK wait_ns(int_fast32_t n)
+    {
+        wait_us((n + 999) / 1000);
+    }
+
+    void HWLIB_WEAK wait_us(int_fast32_t n)
+    {
+        auto end = now_us() + n;
+        while (now_us() < end)
+        {
+            // background::do_background_work();
+        }
+    }
+
+    void HWLIB_WEAK wait_ms(int_fast32_t n)
+    {
+        while (n > 0)
+        {
+            wait_us(1000);
+            --n;
+        }
+    }
+    #endif // _HWLIB_ONCE
 };
 #endif // TEENSY_40