Integrated sensing and communication (ISAC) has been widely recognized as one of the key technologies for 6G wireless networks. In this paper, we focus on the waveform design of ISAC system, which can realize radar sensing while also facilitate information transmission. The main content is as follows: first, we formulate the waveform design problem as a nonconvex and non-smooth model with a unimodulus constraint based on the measurement metric of the radar and communication system. Second, we transform the model into an unconstrained problem on the Riemannian manifold and construct the corresponding operators by analyzing the unimodulus constraint. Third, to achieve the solution efficiently, we propose a low-complexity non-smooth unimodulus manifold gradient descent (N-UMGD) algorithm with theoretical convergence guarantee. The simulation results show that the proposed algorithm can concentrate the energy of the sensing signal in the desired direction and realize information transmission with a low bit error rate.