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esp32: switch esp-idf to v4.2, add CI, support MICROPY_BOARD#6731

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tve wants to merge 7 commits intomicropython:esp32-idf41-cmakefrom
tve:esp32-idf42-pr
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esp32: switch esp-idf to v4.2, add CI, support MICROPY_BOARD#6731
tve wants to merge 7 commits intomicropython:esp32-idf41-cmakefrom
tve:esp32-idf42-pr

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Commits on Dec 25, 2020
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