all: add support for multicore scheduler

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.

src/device/riscv/start.S

@@ -3,8 +3,47 @@
 .type _start,@function
 
 _start:
+    // If we're on a multicore system, we need to wait for hart 0 to wake us up.
+#if TINYGO_CORES > 1
+    csrr a0, mhartid
+
+    // Hart 0 stack
+    bnez a0, 1f
+    la sp,      _stack_top
+
+1:
+    // Hart 1 stack
+    li a1, 1
+    bne a0, a1, 2f
+    la sp,      _stack1_top
+
+2:
+    // Hart 2 stack
+    #if TINYGO_CORES >= 3
+    li a1, 2
+    bne a0, a1, 3f
+    la sp,      _stack2_top
+    #endif
+
+3:
+    // Hart 3 stack
+    #if TINYGO_CORES >= 4
+    li a1, 3
+    bne a0, a1, 4f
+    la sp,      _stack3_top
+    #endif
+
+4:
+    // done
+
+#if TINYGO_CORES > 4
+#error only up to 4 cores are supported at the moment!
+#endif
+
+#else
     // Load the stack pointer.
     la sp,      _stack_top
+#endif
 
     // Load the globals pointer. The program will load pointers relative to this
     // register, so it must be set to the right value on startup.