Multi-core scheduler for the RP2040 #4925

aykevl · 2025-06-12T13:19:27Z

This PR depends on #4851. It needs to be rebased after that PR gets merged.

I've been testing it a bit with my badge code and it seems to be working well so far! It's unfortunately a bit more difficult to fully test than #4851, but I tried running a few tests in ./testdata and they seem to work correctly.

This PR also includes a few fixes for #4851, issues that I later realized and fixed in this PR as separate commits.

github-actions · 2025-06-12T13:49:42Z

Size difference with the dev branch:

Binary size difference

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  11156   12988   1832  16.42%    4252    6308   2056  48.35% tinygo build -size short -o ./build/test.hex -target=pico ./examples/irremote/main.go
  15968   17808   1840  11.52%    4956    7012   2056  41.49% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/as560x/main.go
   8896   10752   1856  20.86%    3276    5340   2064  63.00% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/xpt2046/main.go
  16564   18428   1864  11.25%    4172    6236   2064  49.47% tinygo build -size short -o ./build/test.hex -target=feather-rp2040 ./examples/adafruit4650
  10400   12264   1864  17.92%    3356    5412   2056  61.26% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/scd4x/main.go
  67284   69196   1912   2.84%    4816    6888   2072  43.02% tinygo build -size short -o ./build/test.hex -target=pico ./examples/ndir/main_ndir.go
  10480   12412   1932  18.44%    3328    5392   2064  62.02% tinygo build -size short -o ./build/test.hex -target=feather-rp2040 ./examples/seesaw
  13112   15044   1932  14.73%    3284    5348   2064  62.85% tinygo build -size short -o ./build/test.hex -target=pico ./examples/tmc5160/main.go
  13764   15700   1936  14.07%    3400    5464   2064  60.71% tinygo build -size short -o ./build/test.hex -target=pico     ./examples/sgp30
  25972   27908   1936   7.45%   16412   18476   2064  12.58% tinygo build -size short -o ./build/test.hex -target=pico ./examples/waveshare-epd/epd2in66b/main.go
  12112   14048   1936  15.98%    3304    5368   2064  62.47% tinygo build -size short -o ./build/test.hex -target=pico ./examples/qmi8658c/main.go
  66644   68648   2004   3.01%    4784    6860   2076  43.39% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/mcp9808/main.go
  86628   88776   2148   2.48%    5140    7260   2120  41.25% tinygo build -size short -o ./build/test.hex -target=challenger-rp2040 ./examples/net/ntpclient/
 153776  155964   2188   1.42%    6524    8620   2096  32.13% tinygo build -size short -o ./build/test.hex -target=nano-rp2040 -stack-size 8kb ./examples/net/mqttclient/natiu/
 251032  253224   2192   0.87%   12860   15024   2164  16.83% tinygo build -size short -o ./build/test.hex -target=nano-rp2040 -stack-size 8kb ./examples/net/websocket/dial/
 118132  120528   2396   2.03%    9504   11632   2128  22.39% tinygo build -size short -o ./build/test.hex -target=elecrow-rp2040 -stack-size 8kb ./examples/net/tlsclient/
5703198 5754534  51336   0.02%  857222  913182  55960   0.08%

aykevl · 2025-06-12T15:10:46Z

This PR does increase binary size for RP2040 chips (1½-2kB), but since they generally have plenty of flash memory I don't think that's a problem. And having multicore support by default seems more important to me.

deadprogram · 2025-06-12T15:22:18Z

having multicore support by default seems more important to me.

💯 ❗

deadprogram · 2025-06-12T15:46:52Z

Just tried this branch on an rp2040 app with 3 goroutines, one controlling display, another one running web server.

Worked perfectlyl!! Noticeably "snappier" than the single-core version. 😍

deadprogram · 2025-06-12T19:15:31Z

I will rebase this as soon as the dev build is complete, to avoid any extra cache invalidation/LLVM rebuilds.

I forgot to add it in the first PR, here: #4851

The GC shouldn't try to interrupt other cores before they are started. For example, it would be possible for the GC to run in a package initializer (which is currently run on a single core). That would suggest questionable program design, but it is something that should work. So this commit makes sure the GC only tries to scan the stack of other cores when those other cores have in fact started.

This should avoid a deadlock when trying to print inside an interrupt, if the interrupted code is also printing (and therefore has the print lock taken).

deadprogram · 2025-06-12T19:48:23Z

OK rebased.

ysoldak · 2025-06-12T22:55:30Z

Verified on XIAO-RP2040, works!
I can see my test code executes faster on this branch, compared to dev branch, so I assume it runs on two cores.

Test code

package main

import (
	"sync"
	"time"
	"math/rand"
)

func main() {

	time.Sleep(2 * time.Second)
	println(time.Now().Format("15:04:05.999999999"), "Starting goroutines")

	numbers := make(chan int, 100)

	wg := &sync.WaitGroup{}

	for i := 0; i < 2; i++ {
		wg.Add(1)
		go func() {
			defer wg.Done()
			v := 0
			for j := 0; j < 1000000; j++ {
				v += rand.Intn(100)
			}
			numbers <- v
		}()
	}

	wg.Wait()

	println(<-numbers)
	println(<-numbers)

	println(time.Now().Format("15:04:05.999999999"), "All goroutines finished")

}

Output on "dev" branch:

$ tinygo flash -target xiao-rp2040 -monitor ./src/examples/threads
Connected to /dev/cu.usbmodem101. Press Ctrl-C to exit.
00:00:02.007123 Starting goroutines
49519772
49530931
00:00:09.348277 All goroutines finished

Output on "threading-rp2040-3" branch:

$ tinygo flash -target xiao-rp2040 -monitor ./src/examples/threads
Connected to /dev/cu.usbmodem101. Press Ctrl-C to exit.
00:00:02.007233 Starting goroutines
49519204
49519305
00:00:06.583655 All goroutines finished

ysoldak · 2025-06-12T23:04:11Z

Sizes of the test code (see above).

On "dev" branch:

   code    data     bss |   flash     ram
  38608    1588    3272 |   40196    4860

On "threading-rp2040-3" branch:

   code    data     bss |   flash     ram
  40636    1580    5344 |   42216    6924

deadprogram · 2025-06-13T06:59:23Z

https://github.com/tinygo-org/tinygo/blob/dev/main.go#L1545

Shouldn't cores be added to this list?

Side note: this PR also appears to still work as expected if you use -scheduler tasks with the previous behavior.

From reading of the code/datasheet, it appears that this will save power usage on the second core.

targets/rp2040.json

aykevl · 2025-06-13T07:35:59Z

@deadprogram see #4927 for the outdated help text

eliasnaur · 2025-06-13T09:11:58Z

src/runtime/runtime_rp2040.go

@@ -43,6 +50,284 @@ func sleepTicks(d timeUnit) {
 	}
 }

+// Currently sleeping core, or 0xff.


$ diff src/runtime/runtime_rp2* 1c1 < //go:build rp2040 --- > //go:build rp2350 31a32,35 > if d <= 0 { > return > } >

Can the two files be merged, unlocking multicore on rp2350 for (approximately) free?

Probably, but I don't have a RP2350 to test. I think there are small differences that need to be accounted for.
I plan on getting a RP2350 soon!

I will give you one next week!

eliasnaur · 2025-06-13T09:14:30Z

src/runtime/runtime_rp2040.go

+		// TODO: use wfe and send an event when unlocking so the CPU can go to
+		// sleep while waiting for the lock.
+		// Unfortunately when doing that, time.Sleep() seems to hang somewhere.
+		// This needs some debugging to figure out.


This could hide some other subtle error that affects not just time.Sleep. It seems risky to enable the multicore scheduler by default in v0.38.0 with so little bake time.

"the voice of reason"? 😺

This should build with multicore I think:

tinygo flash -target=pico -scheduler=cores -ldflags="--defsym=__num_stacks=2" path/to/code

Perhaps we should consider it experimental for this release?

@eliasnaur from reading the comment carefully, I interpret it to mean that the implementation in this PR could be improved by using wfe, but it does not yet due to the time.Sleep issue mentioned.

That does not change the point you are making overall. 👍

Another implication of changing the default to multicore, is that default power use will be higher with the second core active. ⚡

I don't think power consumption will be affected much: when one of the cores has nothing to do it will just go to sleep. But I didn't measure this. (Should be easy to do by compiling with -scheduler=tasks and -scheduler=cores and measuring the difference).

So the way it works (at least how I understand it), is that both cores are always running. The second core is just asleep on reset. With multicore support, it is pulled out of this sleep state and starts the scheduler - which in many cases will put it right back to sleep waiting for a goroutine to run. So yeah it spends a little time configuring stuff and then goes back to sleep.
...but again, I didn't measure anything so I'm only speculating how it should work.

So yeah it spends a little time configuring stuff and then goes back to sleep.

That is what all of the docs and references I could find are claiming about power use. So it would appear to be fine as it is from that point of view.

We could disable multicore support for now, and leave it for people who want to test it. It's possible there's a bug I didn't discover yet.

As much as this feature excites me, I think @eliasnaur is probably correct that we should not make it the default yet.

@aykevl has a better idea of the robustness of the multi-core support than I; I merely pointed out the timing.

I'm also very excited about this code, and I would be comfortable making multi-core default, if the release notes spelled out instructions for switching back to the single-core scheduler. It's just a --scheduler=... argument, right? Assuming __num_stacks=2 is benign.

I had already confirmed that -scheduler=tasks does what you would expect and runs on single core.

I assume that the extra stack space is wasted in that case, so I also tested this command (note I missed the extldflags in my original comment):

tinygo flash -target nano-rp2040 -ldflags="--extldflags '--defsym=__num_stacks=1'" -stack-size 8kb -scheduler tasks /path/to/my/code

This also worked correctly, and according to -size full did save some bytes.

Based on this, I think we can merge this PR as it is, and just add the docs to fallback to single core.

deadprogram · 2025-06-13T14:19:05Z

Thank you very much for all your hard work on this amazing feature @aykevl and to everyone who helped review @ysoldak @eliasnaur others too.

Now merging!

deadprogram modified the milestone: 0.38.0 Jun 12, 2025

aykevl added 4 commits June 12, 2025 21:28

runtime: implement NumCPU for the multicore scheduler

af598e0

I forgot to add it in the first PR, here: #4851

runtime: don't lock the print output inside interrupts

781d835

This should avoid a deadlock when trying to print inside an interrupt, if the interrupted code is also printing (and therefore has the print lock taken).

rp2040: add multicore support

a7842af

deadprogram force-pushed the threading-rp2040-3 branch from 7703ca2 to a7842af Compare June 12, 2025 19:48

deadprogram reviewed Jun 13, 2025

View reviewed changes

targets/rp2040.json Show resolved Hide resolved

eliasnaur reviewed Jun 13, 2025

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deadprogram merged commit e238eb2 into dev Jun 13, 2025
29 of 30 checks passed

deadprogram deleted the threading-rp2040-3 branch June 13, 2025 14:19

Multi-core scheduler for the RP2040 #4925

Multi-core scheduler for the RP2040 #4925

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