[riot-notifications] [RIOT-OS/RIOT] add a systick interface for the ztimer (#16543)

Justus Krebs notifications at github.com
Fri Jun 11 11:41:29 CEST 2021

### Contribution description 
This PR adds a systick interface to the ztimer in RIOT-OS. It is based on #14553.
This implementation does not work with the nrf boards due to an issue with the lower power mode. 
This pull request is a first implementation and can be improved in the future. Recommendations and improvements are welcome.

### Testing procedure
We added a test for the new feature. It can be found under `tests/ztimer_systick`.
It uses the ZTIMER_SEC interface to test various time periods.  

It was successfully tested on the `seeeduino_xiao` and the `nucleo-f767zi`.
You can view, comment on, or merge this pull request online at:


-- Commit Summary --

  * add a systick interface for the ztimer

-- File Changes --

    A sys/include/ztimer/periph_systick.h (47)
    A sys/ztimer/periph_systick.c (111)
    A tests/ztimer_systick/Makefile (6)
    A tests/ztimer_systick/main.c (53)

-- Patch Links --


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