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Per https://github.com/earlephilhower/arduino-pico/runs/6204808142?check_suite_focus=true
/usr/bin/git submodule sync --recursive
/usr/bin/git -c protocol.version=2 submodule update --init --force --depth=1 --recursive
[...]
Submodule 'lwip' (https://git.savannah.nongnu.org/git/lwip.git) registered for path 'pico-extras/lib/lwip'
Cloning into '/home/runner/work/arduino-pico/arduino-pico/pico-extras/lib/lwip'...
Error: error: Server does not allow request for unadvertised object c385f31076b27efb8ee37f00cb5568783a58f299
Error: fatal: Fetched in submodule path 'pico-extras/lib/lwip', but it did not contain c385f31076b27efb8ee37f00cb5568783a58f299. Direct fetching of that commit failed.
Error: fatal: Failed to recurse into submodule path 'pico-extras'
Error: The process '/usr/bin/git' failed with exit code 128
seems to be upstream bug that they don't wanna fix: raspberrypi/pico-sdk#1244
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