sigo

SiGo

A Go compiler and language implementation for embedded systems

NOTE: This compiler is under active development and will change often!

Supported Architectures

• ARM Cortex-M0+
• ARM Cortex-M4
• ARM Cortex-M7

Others coming soon...

Compiling

System Requirements:

1. The Go Compiler
2. Clang (Recommended)
   1. On Windows, only the x86_64-pc-windows-gnu variant of clang is compatible with Go.
3. SWIG (https://www.swig.org/)

sudo apt install clang swig libzstd-dev

Run the following commands to create a debug build:

git clone https://github.com/waj334/sigo.git --recurse-submodules
cd ./sigo

export CC=clang
export CXX=clang++
export LD=ld.lld

make sigo
./bin/sigoc --help

or release:

export CC=clang
export CXX=clang++
export LD=ld.lld

make release SIGO_BUILD_RELEASE=1

Selecting a toolchain

The toolchain used for compilation can be specified like the following:

export CC=clang-20
export CXX=clang++-20
export LD=ld.lld-20

make sigo
make release SIGO_BUILD_RELEASE=1

Clang is the recommended build toolchain since it can cross compile for most target platforms. The GNU compiler suite can be used but the correct variant of it must be selected when compiling the runtime libraries for each target platform.

Note: If these values are omitted, then the default toolchain for the host system will be selected by CMake.

Compiling a firmware image

A firmware image can be compiled using the build subcommand:

Usage:
  sigoc build [flags]

Flags:
      --cpu string       target cpu
      --ctypenames       use C type names for primitives in debug information
  -g, --debug            generate debug information
      --dump-ir          dump the IR
      --float string     floating-point mode (softfp, hardfp) (default "softfp")
  -h, --help             help for build
  -j, --jobs int         number of concurrent builds (default NCPU)
  -O, --opt string       optimization level (default "0")
  -o, --output string    output file (default ".")
  -s, --stack-size int   stack size of each goroutine (default 2048)
  -t, --tags string      build tags
  -v, --verbose string   verbosity level
      --work             do not delete the work directory upon build

NOTE: A target CPU must be specified via the --cpu flag!

sigoc build -j8 --cpu atsame51g19a -O0 -g -o/path/to/output/firmware.elf ./examples/arm/samx51/blinky

Troubleshooting

Windows

• Enable "Developer Mode" to fix issues with creating symlinks during build directory staging.
• Slow linking?
  • The Go compiler will use ld by default, but ld.lld can be renamed to ld (rename ld and copy ld.lld in its place) so Go will invoke it instead and linking the final application will be exponentially times faster!