[EV3] Enable caching

lib/pbio/include/pbdrv/cache.h

@@ -0,0 +1,29 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2025 The Pybricks Authors
+
+#ifndef _PBDRV_CACHE_H_
+
+#include <stddef.h>
+
+// Gets data ready so that the data that we (the CPU) have written
+// can be read by DMA peripherals. This cleans the relevant cache lines
+// and flushes the write buffer.
+void pbdrv_cache_prepare_before_dma(const void *buf, size_t sz);
+
+// Makes sure that we (the CPU) are able to read data written
+// by DMA peripherals. This invalidates the relevant cache lines.
+void pbdrv_cache_prepare_after_dma(const void *buf, size_t sz);
+
+// Accesses a variable via the uncached memory alias
+#define PBDRV_UNCACHED(x)           (*(volatile __typeof__(x) *)((uint32_t)(&(x)) + 0x10000000))
+
+// Gets the address of the uncached memory alias of a variable
+#define PBDRV_UNCACHED_ADDR(x)      ((__typeof__(x) *)((uint32_t)(&(x)) + 0x10000000))
+
+// Cache line size
+#define PBDRV_CACHE_LINE_SZ         32
+
+// Align data to a cache line, which is needed for clean RX DMA
+#define PBDRV_CACHE_LINE_ALIGNED    __attribute__((aligned(PBDRV_CACHE_LINE_SZ)))
+
+#endif

lib/pbio/platform/ev3/platform.c

@@ -55,6 +55,7 @@
 
 #include <umm_malloc.h>
 
+#include <pbdrv/cache.h>
 #include <pbdrv/compiler.h>
 #include <pbdrv/ioport.h>
 #include <pbio/port_interface.h>
@@ -396,6 +397,22 @@ unsigned int EDMAVersionGet(void) {
     return 1;
 }
 
+void pbdrv_cache_prepare_before_dma(const void *buf, size_t sz) {
+    // Make sure all data is written by the compiler...
+    pbdrv_compiler_memory_barrier();
+    // and then make sure it's written out of the cache...
+    CP15DCacheCleanBuff((uint32_t)buf, sz);
+    // and also the write buffer, in case the cache missed.
+    CP15DrainWriteBuffer();
+}
+
+void pbdrv_cache_prepare_after_dma(const void *buf, size_t sz) {
+    // Invalidate stale data in the cache...
+    CP15DCacheFlushBuff((uint32_t)buf, sz);
+    // and then make sure _subsequent_ reads cannot be reordered earlier.
+    pbdrv_compiler_memory_barrier();
+}
+
 static void panic_puts(const char *c) {
     while (*c) {
         UARTCharPut(SOC_UART_1_REGS, *(c++));

lib/tiam1808/system_config/armv5/gcc/cp15.c

@@ -208,6 +208,16 @@ void CP15DCacheCleanBuff(unsigned int bufPtr, unsigned int size)
     }
 }
 
+/**
+ * \brief   This function drains the CPU write buffer and acts as a data memory barrier.
+ */
+void CP15DrainWriteBuffer(void)
+{
+    __asm("    mov     r0, #0\n\t"
+          "    mcr     p15, #0, r0, c7, c10, #4"
+          ::: "r0");
+}
+
 /**
  * \brief     This API Configures translation table base register with
  *            with page table starting address.

lib/tiam1808/tiam1808/armv5/cp15.h

@@ -62,6 +62,7 @@ extern void CP15MMUDisable(void);
 extern void CP15MMUEnable(void);
 extern void CP15DCacheFlushBuff(unsigned int ptr, unsigned int size);
 extern void CP15DCacheCleanBuff(unsigned int bufPtr, unsigned int size);
+extern void CP15DrainWriteBuffer(void);
 extern uint32_t CP15GetDFSR(void);
 extern uint32_t CP15GetIFSR(void);
 extern uint32_t CP15GetFAR(void);