But the ESP32 is a computer... All asic miners have one to run the mining software (aka "control" board), they are ARM based, but i assume sooner or later they will switch to RISC-V like you did. China is particularly strongly interested in moving out from arm into risc-v.
So technically you just need to plug the Compac F to one of those SoC solutions via USB and port/compile cgminer to the appropriate architecture or replace it with your own mining software.
I'm curious about the availability of BM1387 at this point, shouldn't you aim for later chips now?