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EV3 fix display #320

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Merged
merged 2 commits into from
Jul 6, 2025
Merged

EV3 fix display #320

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3d0d067
pbio/drv/display/display_ev3: make readonly data const
dlech Jul 6, 2025
ddf454c
pbio/platform/ev3/start: disable and flush caches
dlech Jul 6, 2025
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10 changes: 5 additions & 5 deletions lib/pbio/drv/display/display_ev3.c
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Original file line number Diff line number Diff line change
Expand Up @@ -140,7 +140,7 @@ static uint8_t pbdrv_display_user_frame[PBDRV_CONFIG_DISPLAY_NUM_ROWS][PBDRV_CON
* Flag to indicate that the user frame has been updated and needs to be
* encoded and sent to the display driver.
*/
static bool pbdrv_display_user_frame_update_requested = false;
static bool pbdrv_display_user_frame_update_requested;

/**
* Display buffer in the format ready for sending to the st7586s display driver.
Expand Down Expand Up @@ -194,7 +194,7 @@ static uint8_t encode_triplet(uint8_t p0, uint8_t p1, uint8_t p2) {
*
* Revisit: Use standard format, e.g. decompress PNG files from file storage or memory card.
*/
static uint16_t pbdrv_display_pybricks_logo[] = {
static const uint16_t pbdrv_display_pybricks_logo[] = {
3227, 3359, 3403, 3539, 3580, 3718, 3757, 3897, 3934, 4076, 4111, 4255, 4289, 4433, 4466, 4612,
4644, 4790, 4822, 4968, 5000, 5146, 5178, 5324, 5356, 5502, 5534, 5548, 5666, 5680, 5712, 5725,
5845, 5858, 5890, 5903, 6023, 6036, 6068, 6081, 6201, 6214, 6246, 6259, 6379, 6392, 6424, 6437,
Expand Down Expand Up @@ -235,7 +235,7 @@ static uint16_t pbdrv_display_pybricks_logo[] = {
*
* @param bitmap Pointer to the bitmap data.
*/
static void pbdrv_display_load_indexed_bitmap(uint16_t *indexed_bitmap) {
static void pbdrv_display_load_indexed_bitmap(const uint16_t *indexed_bitmap) {
bool set = 0;
uint32_t switch_index = 0;
for (size_t r = 0; r < PBDRV_CONFIG_DISPLAY_NUM_ROWS; r++) {
Expand Down Expand Up @@ -275,7 +275,7 @@ void pbdrv_display_st7586s_encode_user_frame(void) {
/**
* Display initialization script adapted from ev3dev and EV3RT.
*/
static pbdrv_display_st7586s_action_t init_script[] = {
static const pbdrv_display_st7586s_action_t init_script[] = {
#if ST7586S_DO_RESET_AND_INIT
{ ST7586S_ACTION_WRITE_COMMAND, ST7586_ARDCTL},
{ ST7586S_ACTION_WRITE_DATA, 0x9f},
Expand Down Expand Up @@ -475,7 +475,7 @@ PROCESS_THREAD(pbdrv_display_ev3_init_process, ev, data) {
// For every action in the init script, either send a command or data, or
// wait for a given delay.
for (script_index = 0; script_index < PBIO_ARRAY_SIZE(init_script); script_index++) {
pbdrv_display_st7586s_action_t *action = &init_script[script_index];
const pbdrv_display_st7586s_action_t *action = &init_script[script_index];

if (action->type == ST7586S_ACTION_DELAY) {
// Simple delay.
Expand Down
12 changes: 12 additions & 0 deletions lib/pbio/platform/ev3/start.S
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Expand Up @@ -51,6 +51,18 @@
@ main() function.
@
Entry:
@ HACK: The U-Boot Linux loader was doing this, but the ELF loader
@ does not. Adding this here until we sort out the proper way to handle
@ caching. But right now, it breaks the display driver and other things
@ if we don't do this.
mrc p15, #0, r0, c1, c0,#0 @ Read System Control Register
bic r0, r0, #0x1000 @ Clear bit 12 to disable ICache
bic r0, r0, #0x0004 @ Clear bit 2 to disable DCache
mcr p15, #0, r0, c1, c0, #0 @ Write back to System Control Register
mov r0, #0 @ Set r0 to 0
mcr p15, #0, r0, c7, c7, #0 @ Invalidate all caches
@ END HACK

MRC p15, 0, r0, c1, c0, 0 @ Load Coprocessor Register C1 to ARM Register r0
ORR r0, r0, #0x00002000 @ Logical OR --> Set Bit 13
MCR p15, 0, r0, c1, c0, 0 @ Restore Coprocessor Register C1 from ARM Register r0
Expand Down