https://blog.wongcw.com/2020/09/04/arm%e7%99%bc%e5%b8%83%e9%a6%96%e6%ac%be64%e4%bd%8d%e5%af%a6%e6%99%82%e6%8e%a7%e5%88%b6%e5%99%a8cortex-r82%ef%bc%9assd%e7%b7%a9%e5%ad%98%e5%8f%af%e9%81%941tb/