Baremetal multicore support by aykevl · Pull Request #4851 · tinygo-org/tinygo

aykevl · 2025-04-12T08:59:07Z

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!
Timers (time.NewTimer etc) need to be implemented.
Stack scanning (for the GC) needs to be implemented.

github-actions · 2025-04-12T09:10:20Z

Size difference with the dev branch:

Binary size difference

 flash                          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  -0.01%    4816    4816      0   0.00% tinygo build -size short -o ./build/test.hex -target=pico ./examples/ndir/main_ndir.go
  62596   62588     -8  -0.01%    3784    3784      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ndir/main_ndir.go
  65600   65592     -8  -0.01%    6252    6252      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/ndir/main_ndir.go
  16568   16564     -4  -0.02%    4172    4172      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-rp2040 ./examples/adafruit4650
   8844    8840     -4  -0.05%    4748    4748      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/adxl345/main.go
  13576   13572     -4  -0.03%    6796    6796      0   0.00% tinygo build -size short -o ./build/test.hex -target=pybadge ./examples/amg88xx
   9004    9000     -4  -0.04%    4748    4748      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/apa102/main.go
  11820   11816     -4  -0.03%    6580    6580      0   0.00% tinygo build -size short -o ./build/test.hex -target=nano-33-ble ./examples/apds9960/proximity/main.go
   9268    9264     -4  -0.04%    4752    4752      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/apa102/itsybitsy-m0/main.go
   7580    7576     -4  -0.05%    2320    2320      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/at24cx/main.go
   8088    8084     -4  -0.05%    4740    4740      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bh1750/main.go
   7456    7452     -4  -0.05%    4740    4740      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/blinkm/main.go
  11948   11944     -4  -0.03%    4812    4812      0   0.00% tinygo build -size short -o ./build/test.hex -target=trinket-m0 ./examples/bmp388/main.go
   7872    7868     -4  -0.05%    3352    3352      0   0.00% tinygo build -size short -o ./build/test.hex -target=bluepill ./examples/ds1307/sram/main.go
  22188   22184     -4  -0.02%    3556    3556      0   0.00% tinygo build -size short -o ./build/test.hex -target=bluepill ./examples/ds1307/time/main.go
   4632    4628     -4  -0.09%    2280    2280      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/easystepper/main.go
   7304    7300     -4  -0.05%    2284    2284      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/gc9a01/main.go
   7868    7864     -4  -0.05%    4740    4740      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/hcsr04/main.go
   5760    5756     -4  -0.07%    2280    2280      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/hd44780/customchar/main.go
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  14704   14700     -4  -0.03%    6580    6580      0   0.00% tinygo build -size short -o ./build/test.hex -target=nano-33-ble ./examples/hts221/main.go
  16180   16176     -4  -0.02%    2364    2364      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/hub75/main.go
  10276   10272     -4  -0.04%    6916    6916      0   0.00% tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/basic
  11064   11060     -4  -0.04%    4876    4876      0   0.00% tinygo build -size short -o ./build/test.hex -target=xiao ./examples/ili9341/basic
  29640   29636     -4  -0.01%   38076   38076      0   0.00% tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/pyportal_boing
  10304   10300     -4  -0.04%    6916    6916      0   0.00% tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/scroll
  11144   11140     -4  -0.04%    4876    4876      0   0.00% tinygo build -size short -o ./build/test.hex -target=xiao ./examples/ili9341/scroll
  11048   11044     -4  -0.04%    4780    4780      0   0.00% tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/lis3dh/main.go
  14060   14056     -4  -0.03%    6580    6580      0   0.00% tinygo build -size short -o ./build/test.hex -target=nano-33-ble ./examples/lps22hb/main.go
  12372   12368     -4  -0.03%    4788    4788      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/lsm6ds3/main.go
  10084   10080     -4  -0.04%    4740    4740      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mag3110/main.go
   9244    9240     -4  -0.04%    4772    4772      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp23017/main.go
   9648    9644     -4  -0.04%    4780    4780      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp23017-multiple/main.go
   9492    9488     -4  -0.04%    4748    4748      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp3008/main.go
   7544    7540     -4  -0.05%    4748    4748      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mma8653/main.go
   7452    7448     -4  -0.05%    4740    4740      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mpu6050/main.go
  12196   12192     -4  -0.03%    3352    3352      0   0.00% tinygo build -size short -o ./build/test.hex -target=pico ./examples/pca9685/main.go
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  10484   10480     -4  -0.04%    3328    3328      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-rp2040 ./examples/seesaw
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   8220    8216     -4  -0.05%    6788    6788      0   0.00% tinygo build -size short -o ./build/test.hex -target=pybadge ./examples/shifter/main.go
   6048    6044     -4  -0.07%    2288    2288      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ssd1306/i2c_128x32/main.go
   5576    5572     -4  -0.07%    2284    2284      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ssd1306/spi_128x64/main.go
   5904    5900     -4  -0.07%    2284    2284      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ssd1331/main.go
   6812    6808     -4  -0.06%    2284    2284      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/st7735/main.go
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  10128   10124     -4  -0.04%    4532    4532      0   0.00% tinygo build -size short -o ./build/test.hex -target=circuitplay-bluefruit ./examples/tone
  10184   10180     -4  -0.04%    4740    4740      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/tm1637/main.go
  10756   10752     -4  -0.04%    3340    3340      0   0.00% tinygo build -size short -o ./build/test.hex -target=pico ./examples/touch/capacitive
   9168    9164     -4  -0.04%    6780    6780      0   0.00% tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/touch/resistive/fourwire/main.go
  12580   12576     -4  -0.03%    6976    6976      0   0.00% tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/touch/resistive/pyportal_touchpaint/main.go
  15144   15140     -4  -0.03%    4748    4748      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/vl53l1x/main.go
  13664   13660     -4  -0.03%    4748    4748      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/vl6180x/main.go
  24784   24780     -4  -0.02%   13720   13720      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-nrf52840-sense ./examples/waveshare-epd/epd1in54/main.go
   6536    6532     -4  -0.06%    2324    2324      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/waveshare-epd/epd2in13/main.go
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  71748   71748      0   0.00%    6344    6344      0   0.00% tinygo build -size short -o ./build/test.hex -target=xiao ./examples/pcf8563/alarm/
  71644   71644      0   0.00%    6344    6344      0   0.00% tinygo build -size short -o ./build/test.hex -target=xiao ./examples/pcf8563/timer/
  66644   66644      0   0.00%    4784    4784      0   0.00% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/mcp9808/main.go
  60768   60768      0   0.00%    5968    5968      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-nrf52840 ./examples/max6675/main.go
 286876  286884      8   0.00%   19564   19564      0   0.00% tinygo build -size short -o ./build/test.hex -target=wioterminal -stack-size 8kb ./examples/net/webserver/
  27132   27148     16   0.06%    3640    3640      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/microbitmatrix/main.go
  26948   26964     16   0.06%    5620    5620      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit-v2 ./examples/microbitmatrix/main.go
  31192   31208     16   0.05%    4544    4544      0   0.00% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/ssd1289/main.go
  86612   86628     16   0.02%    5140    5140      0   0.00% tinygo build -size short -o ./build/test.hex -target=challenger-rp2040 ./examples/net/ntpclient/
 298152  298168     16   0.01%   15908   15908      0   0.00% tinygo build -size short -o ./build/test.hex -target=pyportal -stack-size 8kb ./examples/net/http-get/
 119048  119064     16   0.01%    7828    7828      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino-nano33 -stack-size 8kb ./examples/net/tcpclient/
 102520  102536     16   0.02%    9808    9808      0   0.00% tinygo build -size short -o ./build/test.hex -target=metro-m4-airlift -stack-size 8kb ./examples/net/socket/
 338188  338204     16   0.00%   16520   16520      0   0.00% tinygo build -size short -o ./build/test.hex -target=matrixportal-m4 -stack-size 8kb ./examples/net/webstatic/
 111272  111288     16   0.01%    7784    7784      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino-mkrwifi1010 -stack-size 8kb ./examples/net/tlsclient/
 153760  153776     16   0.01%    6524    6524      0   0.00% tinygo build -size short -o ./build/test.hex -target=nano-rp2040 -stack-size 8kb ./examples/net/mqttclient/natiu/
 116268  116284     16   0.01%   13104   13104      0   0.00% tinygo build -size short -o ./build/test.hex -target=wioterminal -stack-size 8kb ./examples/net/webclient/
 290164  290180     16   0.01%   20864   20864      0   0.00% tinygo build -size short -o ./build/test.hex -target=wioterminal -stack-size 8kb ./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 · 2025-06-02T16:12:02Z

Rebased and fixed one of the 3 issues listed above.

aykevl · 2025-06-03T10:27:16Z

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.

aykevl · 2025-06-10T15:29:56Z

Implemented support for stack scanning. make tinygo-test-baremetal now passes. I will clean up the code and push it later.

This function isn't used yet, but will be used for the "cores" scheduler for RISC-V.

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") }

deadprogram · 2025-06-10T19:51:11Z

@aykevl looks like legit test failure here:
https://github.com/tinygo-org/tinygo/actions/runs/15566983342/job/43835974809#step:22:43

aykevl · 2025-06-10T20:48:15Z

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.

aykevl · 2025-06-11T08:58:55Z

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.

aykevl · 2025-06-11T10:49:30Z

All tests have passed! 🎉 🎉 🎉

deadprogram · 2025-06-11T10:59:06Z

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

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

aykevl · 2025-06-12T09:46:57Z

I seem to have actually working multicore support for the RP2040 now. Will make a PR once I've cleaned up the code.

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

deadprogram · 2025-06-12T16:03:13Z

Last call on feedback on this PR before merge! 🔔

deadprogram · 2025-06-12T19:04:31Z

Great work @aykevl now merging!

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

ardnew · 2025-06-17T17:03:58Z

Sorry, just saw this — congrats on the effort! This is was one of those features causing friction for new users, regardless if the friction was real or imagined.

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

aykevl mentioned this pull request Apr 12, 2025

Small scheduler refactors #4852

Merged

aykevl force-pushed the threading-qemu branch 2 times, most recently from 10e4d44 to f459e91 Compare June 2, 2025 16:06

aykevl force-pushed the threading-qemu branch 2 times, most recently from ec20c22 to c981526 Compare June 3, 2025 10:27

aykevl force-pushed the threading-qemu branch from c981526 to cd1d393 Compare June 3, 2025 10:32

sync: fix TestMutexConcurrent test

a6ade83

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.

aykevl force-pushed the threading-qemu branch from cd1d393 to 064c8d6 Compare June 10, 2025 15:28

runtime: add exportedFuncPtr

28f70fc

This function isn't used yet, but will be used for the "cores" scheduler for RISC-V.

aykevl force-pushed the threading-qemu branch 2 times, most recently from d473e7f to 4937e1e Compare June 10, 2025 18:08

runtime: refactor obtaining the system stack

befd1fb

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.

aykevl force-pushed the threading-qemu branch from 4937e1e to 7ab8d89 Compare June 11, 2025 08:58

aykevl marked this pull request as ready for review June 11, 2025 08:58

aykevl force-pushed the threading-qemu branch from 7ab8d89 to f21b67c Compare June 11, 2025 09:25

deadprogram approved these changes Jun 11, 2025

View reviewed changes

deadprogram added this to the 0.38.0 milestone Jun 12, 2025

aykevl added a commit that referenced this pull request Jun 12, 2025

runtime: implement NumCPU for the multicore scheduler

adea862

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

aykevl mentioned this pull request Jun 12, 2025

Multi-core scheduler for the RP2040 #4925

Merged

deadprogram merged commit 60f8a62 into dev Jun 12, 2025
29 of 30 checks passed

deadprogram deleted the threading-qemu branch June 12, 2025 19:04

deadprogram pushed a commit that referenced this pull request Jun 12, 2025

runtime: implement NumCPU for the multicore scheduler

af598e0

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

deadprogram pushed a commit that referenced this pull request Jun 13, 2025

runtime: implement NumCPU for the multicore scheduler

e395c94

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

deadprogram pushed a commit that referenced this pull request Aug 16, 2025

runtime: implement NumCPU for the multicore scheduler

e0c36f2

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

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