Bump actions, inline pico-sdk build step, fix GCC MD5 mismatch issue #1563
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Currently, new forks can't compile with GH actions because of:
carlosperate/arm-none-eabi-gcc-action#74
We have a cache for gcc-arm-none-eabi since 6 months back, hence it working for us: https://github.com/OpenStickCommunity/GP2040-CE/actions/caches
This also inlines the build steps that previously where in: https://github.com/Fortinbra/RaspberryPiPicoBuild