chao an b82717b9e6 arm/cortex-a,r: replace cp15 instruct to macros to align operation
This is continue work of https://github.com/apache/nuttx/pull/13486

Discussion here:
https://github.com/apache/nuttx/pull/13486#discussion_r1764354675

1. move cp15.h to arch public
2. replace cp15 instruct to macros to align operation
3. add memory barrier to avoid compiler optimization

Signed-off-by: chao an <anchao@lixiang.com>
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