From babfff336df44cee5ac232647a77b45db258c306 Mon Sep 17 00:00:00 2001
From: Jay Blackman <blckmn@users.noreply.github.com>
Date: Tue, 8 Jul 2025 09:15:02 +1000
Subject: [PATCH] PICO: Adding PICO tooling to CI (#14503)

* PICO: Adding PICO tooling to CI

* Removing description

* Removing requirement for configs when installing pico_sdk

* Remove requirement for ARM when populating sdks

* Removing exclusion for RP2350 targets

* Adding recursive sub-modules checkout

* Allow for different outputs to only .hex

* Attempt to get SITL bin build to upload as an artifact
---
 .github/workflows/ci.yml                  | 16 ++++++++++++++--
 mk/config.mk                              |  2 +-
 mk/tools.mk                               |  4 +++-
 src/platform/PICO/target/RP2350A/.exclude |  0
 src/platform/PICO/target/RP2350B/.exclude |  0
 5 files changed, 18 insertions(+), 4 deletions(-)
 delete mode 100644 src/platform/PICO/target/RP2350A/.exclude
 delete mode 100644 src/platform/PICO/target/RP2350B/.exclude

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 45e8c5bbcb..08c1d2bed1 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -19,7 +19,10 @@ jobs:
     outputs:
       targets: ${{ steps.get-targets.outputs.targets }}
     steps:
-      - uses: actions/checkout@v4
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
 
       - name: Cache build toolchain
         uses: actions/cache@v4
@@ -32,6 +35,10 @@ jobs:
         if: steps.cache-toolchain.outputs.cache-hit != 'true'
         run: make arm_sdk_install
 
+      - name: Build pico tool and install
+        if: steps.cache-toolchain.outputs.cache-hit != 'true'
+        run: make picotool_install
+
       - name: Hydrate configuration
         id: get-config
         run: make configs
@@ -50,6 +57,8 @@ jobs:
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
+        with:
+          submodules: recursive
 
       - name: Fetch toolchain from cache
         uses: actions/cache@v4
@@ -74,7 +83,10 @@ jobs:
         uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.target }}
-          path: obj/*.hex
+          path: |
+            obj/*.hex
+            obj/*.uf2
+            obj/*_${{ matrix.target }}*
           retention-days: 60
 
   test:
diff --git a/mk/config.mk b/mk/config.mk
index d1c9e54c65..2cf4cc3036 100644
--- a/mk/config.mk
+++ b/mk/config.mk
@@ -4,7 +4,7 @@ CONFIGS_REPO_URL ?= https://github.com/betaflight/config
 CONFIGS_SUBMODULE_DIR = src/config
 BASE_CONFIGS      = $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(CONFIG_DIR)/configs/*/config.h)))))
 
-ifneq ($(filter-out %_install test% %_clean clean% %-print %.hex %.h hex checks help configs $(BASE_TARGETS) $(BASE_CONFIGS),$(MAKECMDGOALS)),)
+ifneq ($(filter-out %_sdk %_install test% %_clean clean% %-print %.hex %.h hex checks help configs $(BASE_TARGETS) $(BASE_CONFIGS),$(MAKECMDGOALS)),)
 ifeq ($(wildcard $(CONFIG_DIR)/configs/),)
 $(error `$(CONFIG_DIR)` not found. Have you hydrated configuration using: 'make configs'?)
 endif
diff --git a/mk/tools.mk b/mk/tools.mk
index 0b53aedecb..1335a16267 100644
--- a/mk/tools.mk
+++ b/mk/tools.mk
@@ -8,6 +8,8 @@
 #
 # Release date: July 04, 2024
 #
+# PICO SDK Version: 2.X - July 03, 2025
+#
 ###############################################################
 
 ##############################
@@ -275,7 +277,7 @@ zip_clean:
 
 ifeq ($(shell [ -d "$(ARM_SDK_DIR)" ] && echo "exists"), exists)
   ARM_SDK_PREFIX := $(ARM_SDK_DIR)/bin/arm-none-eabi-
-else ifeq (,$(filter %_install test% clean% %-print checks help configs, $(MAKECMDGOALS)))
+else ifeq (,$(filter %_sdk %_install test% clean% %-print checks help configs, $(MAKECMDGOALS)))
   GCC_VERSION = $(shell arm-none-eabi-gcc -dumpversion)
   ifeq ($(GCC_VERSION),)
     $(error **ERROR** arm-none-eabi-gcc not in the PATH. Run 'make arm_sdk_install' to install automatically in the tools folder of this repo)
diff --git a/src/platform/PICO/target/RP2350A/.exclude b/src/platform/PICO/target/RP2350A/.exclude
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/src/platform/PICO/target/RP2350B/.exclude b/src/platform/PICO/target/RP2350B/.exclude
deleted file mode 100644
index e69de29bb2..0000000000