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I created some BitBake recipes to compile Arduino sketches using arduino-cli during a Yocto/Bitbake build. The (perhaps less convenient) alternatives would be to:
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a) Compile the said software independently and include the binaries directly which is often not ideal b) Use the deprecated arduino-builder c) Use the chip vendor's toolchain/SDK directly which may be complex
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You can find the relevant resources and documentation here: https://github.com/platisd/meta-dimitriOS/tree/master/recipes-workshop/smartcar-mqtt