3D coronary artery reconstruction (3D-CAR) in intravascular ultrasound (IVUS) sequences allows quantitative analyses of vessel properties. Existing methods treat two main tasks of the 3D-CAR separately, including the cardiac phase retrieval (CPR) and the membrane border extraction (MBE). They ignore the CPR-MBE connection that could achieve mutual promotions to both tasks. In this paper, we pioneer to achieve one-step 3D-CAR via a collaborative constraint generative adversarial network (GAN) named the AwCPM-Net. The AwCPM-Net consists of a dual-task collaborative generator and a dual-task constraint discriminator. The generator combines a self-supervised CPR branch with a semi-supervised MBE branch via a warming-up connection. The discriminator promotes dual-branch predictions simultaneously. The CPR branch requires no annotations and outputs inter-frame deformation fields used for identifying cardiac phases. Deformation fields are additionally constrained by the MBE branch and the discriminator. The MBE branch predicts membrane boundaries for each frame. Two aspects assist the semi-supervised segmentation: annotation augmentation by deformation fields of the CPR branch; information exploitation on unlabeled images enabled by GAN design. Trained and tested on an IVUS dataset acquired from atherosclerosis patients, the AwCPM-Net is effective in both CPR and MBE tasks, superior to state-of-the-art IVUS CPR or MBE methods. Hence, the AwCPM-Net reconstructs reliable 3D artery anatomy in the IVUS modality.