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Ubuntu 22.04 build just worked, nice! Much feels much cleaner than the Micro Bit C setup:
sudo apt install cmake gcc-arm-none-eabi libnewlib-arm-none-eabi libstdc++-arm-none-eabi-newlib

git clone
cd pico-sdk
git checkout 2e6142b15b8a75c1227dd3edbe839193b2bf9041
cd ..

git clone
cd pico-examples
git checkout a7ad17156bf60842ee55c8f86cd39e9cd7427c1d
cd ..

export PICO_SDK_PATH="$(pwd)/pico-sdk"
cd pico-exampes
mkdir build
cd build
# Board selection.
# also says you can give wifi ID and password here for W.
cmake -DPICO_BOARD=pico_w ..
make -j
Then we install the programs just like any other UF2 but plugging it in with BOOTSEL pressed and copying the UF2 over, e.g.:
cp pico_w/blink/picow_blink.uf2 /media/$USER/RPI-RP2/
Note that there is a separate example for the W and non W LED, for non-W it is:
cp blink/blink.uf2 /media/$USER/RPI-RP2/
Also tested the UART over USB example:
cp hello_world/usb/hello_usb.uf2 /media/$USER/RPI-RP2/
You can then see the UART messages with:
screen /dev/ttyACM0 115200
TODO understand the proper debug setup, and a flash setup that doesn't require us to plug out and replug the thing every two seconds. appears to describe it, with SWD to do both debug and flash. To do it, you seem need another board with GPIO, e.g. a Raspberry Pi, the laptop alone is not enough.