I have a icoboard connected to a raspberry Pi 3 -- it's my little self-contained FOSS FPGA development station. Quite convenient :)
But you won't be able to synthesize a RISC-V CPU. The iCE40 series consists of relatively small parts.
You can fit picorv32 on an iCE40-HX8K, although admittedly you'll only get an RV32IMC core with just the user ISA.
But you won't be able to synthesize a RISC-V CPU. The iCE40 series consists of relatively small parts.