Baremetal multicore support #4851
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Size difference with the dev branch: Binary size differenceflash ram before after diff before after diff 61852 61844 -8 -0.01% 6180 6180 0 0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/adt7410/main.go 71132 71124 -8 -0.01% 3656 3656 0 0.00% tinygo build -size short -o ./build/test.hex -target=pinetime ./examples/bma42x/main.go 27628 27620 -8 -0.03% 4780 4780 0 0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmp180/main.go 70144 70136 -8 -0.01% 6368 6368 0 0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/ds3231/main.go 263728 263720 -8 -0.00% 46744 46744 0 0.00% tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/slideshow 26356 26348 -8 -0.03% 2328 2328 0 0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/lsm303agr/main.go 69228 69220 -8 -0.01% 6196 6196 0 0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp2515/main.go 16792 16784 -8 -0.05% 4740 4740 0 0.00% tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/thermistor/main.go 63224 63216 -8 -0.01% 5948 5948 0 0.00% tinygo build -size short -o ./build/test.hex -target=feather-nrf52840 ./examples/is31fl3731/main.go 76664 76656 -8 -0.01% 6336 6336 0 0.00% tinygo build -size short -o ./build/test.hex -target=feather-m0 ./examples/dht/main.go 71300 71292 -8 -0.01% 6340 6340 0 0.00% tinygo build -size short -o ./build/test.hex -target=xiao ./examples/pcf8563/time/ 74088 74080 -8 -0.01% 10756 10756 0 0.00% tinygo build -size short -o ./build/test.hex -target=feather-m4 ./examples/sdcard/console/ 62272 62264 -8 -0.01% 8228 8228 0 0.00% tinygo build -size short -o ./build/test.hex -target=feather-m4 ./examples/i2csoft/adt7410/ 82964 82956 -8 -0.01% 6592 6592 0 0.00% tinygo build -size short -o ./build/test.hex -target=nucleo-wl55jc ./examples/lora/lorawan/atcmd/ 67292 67284 -8 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-target=pico ./examples/scd4x/main.go 8032 8028 -4 -0.05% 4748 4748 0 0.00% tinygo build -size short -o ./build/test.uf2 -target=circuitplay-express ./examples/makeybutton/main.go 9576 9572 -4 -0.04% 4764 4764 0 0.00% tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/ds18b20/main.go 15972 15968 -4 -0.03% 4956 4956 0 0.00% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/as560x/main.go 9808 9804 -4 -0.04% 3296 3296 0 0.00% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/mpu6886/main.go 7844 7840 -4 -0.05% 4740 4740 0 0.00% tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/ttp229/main.go 9260 9256 -4 -0.04% 3288 3288 0 0.00% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/mpu9150/main.go 11528 11524 -4 -0.03% 3324 3324 0 0.00% tinygo build -size short -o ./build/test.hex -target=macropad-rp2040 ./examples/sh1106/macropad_spi 8284 8280 -4 -0.05% 3760 3760 0 0.00% tinygo 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./examples/net/mqttclient/paho/ 118116 118132 16 0.01% 9504 9504 0 0.00% tinygo build -size short -o ./build/test.hex -target=elecrow-rp2040 -stack-size 8kb ./examples/net/tlsclient/ 117996 118012 16 0.01% 9544 9544 0 0.00% tinygo build -size short -o ./build/test.hex -target=elecrow-rp2350 -stack-size 8kb ./examples/net/ntpclient/ 250652 250676 24 0.01% 12860 12860 0 0.00% tinygo build -size short -o ./build/test.hex -target=nano-rp2040 -stack-size 8kb ./examples/net/websocket/dial/ 5697208 5696962 -246 -0.00% 857222 857222 0 0.00% |
aykevl
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Rebased and fixed one of the 3 issues listed above. |
aykevl
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Implemented support for timers. |
Accessing the same variable from multiple goroutines is unsafe, and will fail with parallelism. A lightweight way to avoid issues is by using atomic variables.
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Implemented support for stack scanning. |
This function isn't used yet, but will be used for the "cores" scheduler for RISC-V.
aykevl
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This type can be used to jump back to a previous position in a program
from inside an interrupt. This is useful for baremetal systems that
implement wfi but not wfe, and therefore have no easy (race-free) way to
wait until a flag gets changed inside an interrupt. This is an issue on
RISC-V, where this is racy (the interrupt might happen after the check
but before the wfi instruction):
configureInterrupt()
for flag.Load() != 0 {
riscv.Asm("wfi")
}
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@aykevl looks like legit test failure here: |
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I haven't finished pushing all the changes, so this is expected. I'll comment when I'm done. |
The system stack is only needed when we're not on it. So we can directly call task.SystemStack() without problems. This also saves a tiny bit of binary size.
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Pushed all my changes. I did a bunch of local testing and things seem good, I hope CI agrees and I didn't break something. (With careful review of my local changes I also discovered a few bugs that weren't caught during normal testing, so this was actually very necessary). |
This commit adds support for a scheduler that runs a scheduler on all available cores. It is meant to be used on baremetal systems with a fixed number of cores, such as the RP2040. The initial implementation adds support for multicore scheduling to the riscv-qemu target as a convenient testing target. This means that this new multicore scheduler is tested in CI, including a bunch of standard library tests (`make tinygo-test-baremetal`). This should ensure the new scheduler is reasonably well tested before trying to use it on harder-to-debug targets like the RP2040.
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All tests have passed! 🎉 🎉 🎉 |
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This PR is ready for review cc @eliasnaur @ysoldak @ardnew @kenbell @soypat anyone else that I missed who is into this sort of thing 🧵 🧵 🧵 |
deadprogram
approved these changes
Jun 11, 2025
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This means that this
new multicore scheduler is tested in CI, including a bunch of standard
library tests (make tinygo-test-baremetal)
That is completely awesome! Very good work on this @aykevl
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I seem to have actually working multicore support for the RP2040 now. Will make a PR once I've cleaned up the code. |
aykevl
added a commit
that referenced
this pull request
Jun 12, 2025
I forgot to add it in the first PR, here: #4851
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Last call on feedback on this PR before merge! 🔔 |
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Great work @aykevl now merging! |
deadprogram
pushed a commit
that referenced
this pull request
Jun 12, 2025
I forgot to add it in the first PR, here: #4851
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Use multiple cores of the "baremetal" riscv-qemu target. The goal is to iron out all the bugs on an easy-to-debug target before moving on to more interesting targets like RP2040. After this PR is done, the RP2040 should be relatively easy to add support for (since I already wrote most of that code).
Work in progress. This already mostly works, but there are a few things that still need to be fixed:
There's a timing bug where if one goroutine pauses, and another already running goroutine pauses for a shorter time, the second may not be woken up at the earlier time.fixed!time.NewTimeretc) need to be implemented.