SysTick.c

// Initialize SysTick with busy wait running at bus clock.
#define NVIC_ST_CTRL_R      (*((volatile unsigned long *)0xE000E010))
#define NVIC_ST_RELOAD_R    (*((volatile unsigned long *)0xE000E014))
#define NVIC_ST_CURRENT_R   (*((volatile unsigned long *)0xE000E018))
void SysTick_Init(void){
  NVIC_ST_CTRL_R = 0;               // disable SysTick during setup
  NVIC_ST_CTRL_R = 0x00000005;      // enable SysTick with core clock
}
// The delay parameter is in units of the 80 MHz core clock. (12.5 ns)
void SysTick_Wait(unsigned long delay){
  NVIC_ST_RELOAD_R = delay-1;  // number of counts to wait
  NVIC_ST_CURRENT_R = 0;       // any value written to CURRENT clears
  while((NVIC_ST_CTRL_R&0x00010000)==0){ // wait for count flag
  }
}
// 10000us equals 10ms
void SysTick_Wait10ms(unsigned long delay){
  unsigned long i;
  for(i=0; i<delay; i++){
    SysTick_Wait(800000);  // wait 10ms
  }
}