diff --git a/src/main/drivers/io_def.h b/src/main/drivers/io_def.h
index 8906c71b2a..2204005221 100644
--- a/src/main/drivers/io_def.h
+++ b/src/main/drivers/io_def.h
@@ -43,7 +43,7 @@
// split ioTag bits between pin and port
// port is encoded as +1 to avoid collision with 0x0 (false as bool)
-#ifndef DEFIO_PORT_PINS
+#ifndef DEFIO_PORT_PINS
// pins per port
#define DEFIO_PORT_PINS 16
#endif
diff --git a/src/platform/PICO/io_def_generated.h b/src/platform/PICO/io_def_generated.h
index 02a5745c36..326e7302e2 100644
--- a/src/platform/PICO/io_def_generated.h
+++ b/src/platform/PICO/io_def_generated.h
@@ -32,9 +32,6 @@
#error "Unsupported target MCU type for PICO"
#endif
-#define DEFIO_PIN_BITMASK 0x7f
-#define DEFIO_PORT_BITSHIFT 7
-
#undef DEFIO_TAG_MAKE
#define DEFIO_TAG_MAKE(pin) ((ioTag_t)(((1) << DEFIO_PORT_BITSHIFT) | (pin)))
diff --git a/src/platform/PICO/pico/platform.h b/src/platform/PICO/pico/platform.h
new file mode 100644
index 0000000000..24fec75bbe
--- /dev/null
+++ b/src/platform/PICO/pico/platform.h
@@ -0,0 +1,287 @@
+/*
+ * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+/** \file platform.h
+ * \defgroup pico_platform pico_platform
+ *
+ * \brief Macros and definitions (and functions when included by non assembly code) for the RP2 family device / architecture
+ * to provide a common abstraction over low level compiler / platform specifics
+ *
+ * This header may be included by assembly code
+ */
+
+#ifndef _PICO_PLATFORM_H
+#define _PICO_PLATFORM_H
+
+#ifndef _PICO_H
+#error pico/platform.h should not be included directly; include pico.h instead
+#endif
+
+#include "pico/platform/compiler.h"
+#include "pico/platform/sections.h"
+#include "pico/platform/panic.h"
+#include "hardware/regs/addressmap.h"
+#include "hardware/regs/sio.h"
+#ifdef __riscv
+#include "hardware/regs/rvcsr.h"
+#endif
+
+// PICO_CONFIG: PICO_RP2350A, Whether the current board has an RP2350 in an A (30 GPIO) package, type=bool, default=Usually provided via board header, group=pico_platform
+#if 0 // make tooling checks happy
+#define PICO_RP2350A 0
+#endif
+
+// PICO_CONFIG: PICO_RP2350_A2_SUPPORTED, Whether to include any specific software support for RP2350 A2 revision, type=bool, default=1, advanced=true, group=pico_platform
+#ifndef PICO_RP2350_A2_SUPPORTED
+#define PICO_RP2350_A2_SUPPORTED 1
+#endif
+
+// PICO_CONFIG: PICO_STACK_SIZE, Minimum amount of stack space reserved in the linker script for each core. See also PICO_CORE1_STACK_SIZE, min=0x100, default=0x800, advanced=true, group=pico_platform
+#ifndef PICO_STACK_SIZE
+#define PICO_STACK_SIZE _u(0x800)
+#endif
+
+// PICO_CONFIG: PICO_HEAP_SIZE, Minimum amount of heap space reserved by the linker script, min=0x100, default=0x800, advanced=true, group=pico_platform
+#ifndef PICO_HEAP_SIZE
+#define PICO_HEAP_SIZE _u(0x800)
+#endif
+
+// PICO_CONFIG: PICO_NO_RAM_VECTOR_TABLE, Enable/disable the RAM vector table, type=bool, default=0, advanced=true, group=pico_platform
+#ifndef PICO_NO_RAM_VECTOR_TABLE
+#define PICO_NO_RAM_VECTOR_TABLE 0
+#endif
+
+#ifndef PICO_RAM_VECTOR_TABLE_SIZE
+#define PICO_RAM_VECTOR_TABLE_SIZE (VTABLE_FIRST_IRQ + NUM_IRQS)
+#endif
+
+// PICO_CONFIG: PICO_USE_STACK_GUARDS, Enable/disable stack guards, type=bool, default=0, advanced=true, group=pico_platform
+#ifndef PICO_USE_STACK_GUARDS
+#define PICO_USE_STACK_GUARDS 0
+#endif
+
+// PICO_CONFIG: PICO_CLKDIV_ROUND_NEAREST, True if floating point clock divisors should be rounded to the nearest possible clock divisor by default rather than rounding down, type=bool, default=1, group=pico_platform
+#ifndef PICO_CLKDIV_ROUND_NEAREST
+#define PICO_CLKDIV_ROUND_NEAREST 1
+#endif
+
+#ifndef __ASSEMBLER__
+
+/*! \brief No-op function for the body of tight loops
+ * \ingroup pico_platform
+ *
+ * No-op function intended to be called by any tight hardware polling loop. Using this ubiquitously
+ * makes it much easier to find tight loops, but also in the future \#ifdef-ed support for lockup
+ * debugging might be added
+ */
+static __force_inline void tight_loop_contents(void) {}
+
+/*! \brief Helper method to busy-wait for at least the given number of cycles
+ * \ingroup pico_platform
+ *
+ * This method is useful for introducing very short delays.
+ *
+ * This method busy-waits in a tight loop for the given number of system clock cycles. The total wait time is only accurate to within 2 cycles,
+ * and this method uses a loop counter rather than a hardware timer, so the method will always take longer than expected if an
+ * interrupt is handled on the calling core during the busy-wait; you can of course disable interrupts to prevent this.
+ *
+ * You can use \ref clock_get_hz(clk_sys) to determine the number of clock cycles per second if you want to convert an actual
+ * time duration to a number of cycles.
+ *
+ * \param minimum_cycles the minimum number of system clock cycles to delay for
+ */
+static inline void busy_wait_at_least_cycles(uint32_t minimum_cycles) {
+ pico_default_asm_volatile (
+#ifdef __riscv
+ // Note the range is halved on RISC-V due to signed comparison (no carry flag)
+ ".option push\n"
+ ".option norvc\n" // force 32 bit addi, so branch prediction guaranteed
+ ".p2align 2\n"
+ "1: \n"
+ "addi %0, %0, -2 \n"
+ "bgez %0, 1b\n"
+ ".option pop"
+#else
+ "1: subs %0, #3\n"
+ "bcs 1b\n"
+#endif
+ : "+r" (minimum_cycles) : : "cc", "memory"
+ );
+}
+
+// PICO_CONFIG: PICO_NO_FPGA_CHECK, Remove the FPGA platform check for small code size reduction, type=bool, default=1, advanced=true, group=pico_runtime
+#ifndef PICO_NO_FPGA_CHECK
+#define PICO_NO_FPGA_CHECK 1
+#endif
+
+// PICO_CONFIG: PICO_NO_SIM_CHECK, Remove the SIM platform check for small code size reduction, type=bool, default=1, advanced=true, group=pico_runtime
+#ifndef PICO_NO_SIM_CHECK
+#define PICO_NO_SIM_CHECK 1
+#endif
+
+#if PICO_NO_FPGA_CHECK
+static inline bool running_on_fpga(void) {return false;}
+#else
+bool running_on_fpga(void);
+#endif
+#if PICO_NO_SIM_CHECK
+static inline bool running_in_sim(void) {return false;}
+#else
+bool running_in_sim(void);
+#endif
+
+/*! \brief Execute a breakpoint instruction
+ * \ingroup pico_platform
+ */
+static __force_inline void __breakpoint(void) {
+#ifdef __riscv
+ __asm ("ebreak");
+#else
+ pico_default_asm_volatile ("bkpt #0" : : : "memory");
+#endif
+}
+
+/*! \brief Get the current core number
+ * \ingroup pico_platform
+ *
+ * \return The core number the call was made from
+ */
+__force_inline static uint get_core_num(void) {
+ return (*(uint32_t *) (SIO_BASE + SIO_CPUID_OFFSET));
+}
+
+/*! \brief Get the current exception level on this core
+ * \ingroup pico_platform
+ *
+ * On Cortex-M this is the exception number defined in the architecture
+ * reference, which is equal to VTABLE_FIRST_IRQ + irq num if inside an
+ * interrupt handler. (VTABLE_FIRST_IRQ is defined in platform_defs.h).
+ *
+ * On Hazard3, this function returns VTABLE_FIRST_IRQ + irq num if inside of
+ * an external IRQ handler (or a fault from such a handler), and 0 otherwise,
+ * generally aligning with the Cortex-M values.
+ *
+ * \return the exception number if the CPU is handling an exception, or 0 otherwise
+ */
+static __force_inline uint __get_current_exception(void) {
+#ifdef __riscv
+ uint32_t meicontext;
+ pico_default_asm_volatile (
+ "csrr %0, %1\n"
+ : "=r" (meicontext) : "i" (RVCSR_MEICONTEXT_OFFSET)
+ );
+ if (meicontext & RVCSR_MEICONTEXT_NOIRQ_BITS) {
+ return 0;
+ } else {
+ return VTABLE_FIRST_IRQ + (
+ (meicontext & RVCSR_MEICONTEXT_IRQ_BITS) >> RVCSR_MEICONTEXT_IRQ_LSB
+ );
+ }
+#else
+ uint exception;
+ pico_default_asm_volatile (
+ "mrs %0, ipsr\n"
+ "uxtb %0, %0\n"
+ : "=l" (exception)
+ );
+ return exception;
+#endif
+}
+
+/*! \brief Return true if executing in the NonSecure state (Arm-only)
+ * \ingroup pico_platform
+ *
+ * \return True if currently executing in the NonSecure state on an Arm processor
+ */
+__force_inline static bool pico_processor_state_is_nonsecure(void) {
+#ifndef __riscv
+ // todo add a define to disable NS checking at all?
+ // IDAU-Exempt addresses return S=1 when tested in the Secure state,
+ // whereas executing a tt in the NonSecure state will always return S=0.
+ uint32_t tt;
+ pico_default_asm_volatile (
+ "movs %0, #0\n"
+ "tt %0, %0\n"
+ : "=r" (tt) : : "cc"
+ );
+ return !(tt & (1u << 22));
+#else
+ // NonSecure is an Arm concept, there is nothing meaningful to return
+ // here. Note it's not possible in general to detect whether you are
+ // executing in U-mode as, for example, M-mode is classically
+ // virtualisable in U-mode.
+ return false;
+#endif
+}
+
+#define host_safe_hw_ptr(x) ((uintptr_t)(x))
+#define native_safe_hw_ptr(x) host_safe_hw_ptr(x)
+
+/*! \brief Returns the RP2350 chip revision number
+ * \ingroup pico_platform
+ * @return the RP2350 chip revision number (1 for B0/B1, 2 for B2)
+ */
+uint8_t rp2350_chip_version(void);
+
+/*! \brief Returns the RP2040 chip revision number for compatibility
+ * \ingroup pico_platform
+ * @return 2 RP2040 errata fixed in B2 are fixed in RP2350
+ */
+static inline uint8_t rp2040_chip_version(void) {
+ return 2;
+}
+
+/*! \brief Returns the RP2040 rom version number
+ * \ingroup pico_platform
+ * @return the RP2040 rom version number (1 for RP2040-B0, 2 for RP2040-B1, 3 for RP2040-B2)
+ */
+static inline uint8_t rp2040_rom_version(void) {
+ GCC_Pragma("GCC diagnostic push")
+ GCC_Pragma("GCC diagnostic ignored \"-Warray-bounds\"")
+ return *(uint8_t*)0x13;
+ GCC_Pragma("GCC diagnostic pop")
+}
+
+/*! \brief Multiply two integers using an assembly `MUL` instruction
+ * \ingroup pico_platform
+ *
+ * This multiplies a by b using multiply instruction using the ARM mul instruction regardless of values (the compiler
+ * might otherwise choose to perform shifts/adds), i.e. this is a 1 cycle operation.
+ *
+ * \param a the first operand
+ * \param b the second operand
+ * \return a * b
+ */
+__force_inline static int32_t __mul_instruction(int32_t a, int32_t b) {
+#ifdef __riscv
+ __asm ("mul %0, %0, %1" : "+r" (a) : "r" (b) : );
+#else
+ pico_default_asm ("muls %0, %1" : "+l" (a) : "l" (b) : "cc");
+#endif
+ return a;
+}
+
+/*! \brief multiply two integer values using the fastest method possible
+ * \ingroup pico_platform
+ *
+ * Efficiently multiplies value a by possibly constant value b.
+ *
+ * If b is known to be constant and not zero or a power of 2, then a mul instruction is used rather than gcc's default
+ * which is often a slow combination of shifts and adds. If b is a power of 2 then a single shift is of course preferable
+ * and will be used
+ *
+ * \param a the first operand
+ * \param b the second operand
+ * \return a * b
+ */
+#define __fast_mul(a, b) __builtin_choose_expr(__builtin_constant_p(b) && !__builtin_constant_p(a), \
+ (__builtin_popcount(b) >= 2 ? __mul_instruction(a,b) : (a)*(b)), \
+ (a)*(b))
+
+#endif // __ASSEMBLER__
+
+#endif
+
diff --git a/src/platform/PICO/pico/version.h b/src/platform/PICO/pico/version.h
new file mode 100644
index 0000000000..fce6cc0693
--- /dev/null
+++ b/src/platform/PICO/pico/version.h
@@ -0,0 +1,19 @@
+/*
+ * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+// ---------------------------------------
+// THIS FILE IS AUTOGENERATED; DO NOT EDIT
+// ---------------------------------------
+
+#ifndef _PICO_VERSION_H
+#define _PICO_VERSION_H
+
+#define PICO_SDK_VERSION_MAJOR 2
+#define PICO_SDK_VERSION_MINOR 1
+#define PICO_SDK_VERSION_REVISION 0
+#define PICO_SDK_VERSION_STRING "2.1.0"
+
+#endif
diff --git a/src/platform/PICO/platform_mcu.h b/src/platform/PICO/platform_mcu.h
index 80544a0da8..cb7d34f55f 100644
--- a/src/platform/PICO/platform_mcu.h
+++ b/src/platform/PICO/platform_mcu.h
@@ -31,6 +31,7 @@
#define NVIC_PriorityGroup_2 0x500
#define PLATFORM_NO_LIBC 0
+#define DEFIO_PORT_PINS 64
#if defined(RP2350A) || defined(RP2350B)
diff --git a/src/platform/PICO/usb/usb_cdc.c b/src/platform/PICO/usb/usb_cdc.c
new file mode 100644
index 0000000000..d0603a83f2
--- /dev/null
+++ b/src/platform/PICO/usb/usb_cdc.c
@@ -0,0 +1,276 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see .
+ */
+
+#include "platform.h"
+
+#include "tusb_config.h"
+#include "tusb.h"
+#include "usb_cdc.h"
+
+#include "pico/binary_info.h"
+#include "pico/time.h"
+#include "pico/mutex.h"
+#include "pico/critical_section.h"
+#include "hardware/irq.h"
+
+#ifndef CDC_USB_TASK_INTERVAL_US
+#define CDC_USB_TASK_INTERVAL_US 1000
+#endif
+
+#ifndef CDC_USB_WRITE_TIMEOUT_US
+#define CDC_USB_WRITE_TIMEOUT_US 1000
+#endif
+
+#ifndef CDC_DEADLOCK_TIMEOUT_MS
+#define CDC_DEADLOCK_TIMEOUT_MS 1000
+#endif
+
+#ifndef CDC_USB_BAUD_RATE
+#define CDC_USD_BAUD_RATE 115200
+#endif
+
+static bool configured = false;
+static mutex_t cdc_usb_mutex;
+
+// if this crit_sec is initialized, we are not in periodic timer mode, and must make sure
+// we don't either create multiple one shot timers, or miss creating one. this crit_sec
+// is used to protect the one_shot_timer_pending flag
+static critical_section_t one_shot_timer_crit_sec;
+static volatile bool one_shot_timer_pending;
+static uint8_t low_priority_irq_num;
+
+static int64_t timer_task(alarm_id_t id, void *user_data)
+{
+ UNUSED(id);
+ UNUSED(user_data);
+
+ int64_t repeat_time;
+ if (critical_section_is_initialized(&one_shot_timer_crit_sec)) {
+ critical_section_enter_blocking(&one_shot_timer_crit_sec);
+ one_shot_timer_pending = false;
+ critical_section_exit(&one_shot_timer_crit_sec);
+ repeat_time = 0; // don't repeat
+ } else {
+ repeat_time = CDC_USB_TASK_INTERVAL_US;
+ }
+ if (irq_is_enabled(low_priority_irq_num)) {
+ irq_set_pending(low_priority_irq_num);
+ return repeat_time;
+ } else {
+ return 0; // don't repeat
+ }
+}
+
+static void low_priority_worker_irq(void)
+{
+ if (mutex_try_enter(&cdc_usb_mutex, NULL)) {
+ tud_task();
+ mutex_exit(&cdc_usb_mutex);
+ } else {
+ // if the mutex is already owned, then we are in non IRQ code in this file.
+ //
+ // it would seem simplest to just let that code call tud_task() at the end, however this
+ // code might run during the call to tud_task() and we might miss a necessary tud_task() call
+ //
+ // if we are using a periodic timer (crit_sec is not initialized in this case),
+ // then we are happy just to wait until the next tick, however when we are not using a periodic timer,
+ // we must kick off a one-shot timer to make sure the tud_task() DOES run (this method
+ // will be called again as a result, and will try the mutex_try_enter again, and if that fails
+ // create another one shot timer again, and so on).
+ if (critical_section_is_initialized(&one_shot_timer_crit_sec)) {
+ bool need_timer;
+ critical_section_enter_blocking(&one_shot_timer_crit_sec);
+ need_timer = !one_shot_timer_pending;
+ one_shot_timer_pending = true;
+ critical_section_exit(&one_shot_timer_crit_sec);
+ if (need_timer) {
+ add_alarm_in_us(CDC_USB_TASK_INTERVAL_US, timer_task, NULL, true);
+ }
+ }
+ }
+}
+
+static void usb_irq(void)
+{
+ irq_set_pending(low_priority_irq_num);
+}
+
+int cdc_usb_write(const uint8_t *buf, unsigned length)
+{
+ static uint64_t last_avail_time;
+ int written = 0;
+
+ if (!mutex_try_enter_block_until(&cdc_usb_mutex, make_timeout_time_ms(CDC_DEADLOCK_TIMEOUT_MS))) {
+ return -1;
+ }
+
+ if (cdc_usb_connected()) {
+ for (unsigned i = 0; i < length;) {
+ unsigned n = length - i;
+ uint32_t avail = tud_cdc_write_available();
+ if (n > avail) n = avail;
+ if (n) {
+ uint32_t n2 = tud_cdc_write(buf + i, n);
+ tud_task();
+ tud_cdc_write_flush();
+ i += n2;
+ written = i;
+ last_avail_time = time_us_64();
+ } else {
+ tud_task();
+ tud_cdc_write_flush();
+ if (!cdc_usb_connected() || (!tud_cdc_write_available() && time_us_64() > last_avail_time + CDC_USB_WRITE_TIMEOUT_US)) {
+ break;
+ }
+ }
+ }
+ } else {
+ // reset our timeout
+ last_avail_time = 0;
+ }
+ mutex_exit(&cdc_usb_mutex);
+ return written;
+}
+
+void cdc_usb_write_flush(void)
+{
+ if (!mutex_try_enter_block_until(&cdc_usb_mutex, make_timeout_time_ms(CDC_DEADLOCK_TIMEOUT_MS))) {
+ return;
+ }
+ do {
+ tud_task();
+ } while (tud_cdc_write_flush());
+ mutex_exit(&cdc_usb_mutex);
+}
+
+int cdc_usb_read(uint8_t *buf, unsigned length)
+{
+ // note we perform this check outside the lock, to try and prevent possible deadlock conditions
+ // with printf in IRQs (which we will escape through timeouts elsewhere, but that would be less graceful).
+ //
+ // these are just checks of state, so we can call them while not holding the lock.
+ // they may be wrong, but only if we are in the middle of a tud_task call, in which case at worst
+ // we will mistakenly think we have data available when we do not (we will check again), or
+ // tud_task will complete running and we will check the right values the next time.
+ //
+ int rc = PICO_ERROR_NO_DATA;
+ if (cdc_usb_connected() && tud_cdc_available()) {
+ if (!mutex_try_enter_block_until(&cdc_usb_mutex, make_timeout_time_ms(CDC_DEADLOCK_TIMEOUT_MS))) {
+ return PICO_ERROR_NO_DATA; // would deadlock otherwise
+ }
+ if (cdc_usb_connected() && tud_cdc_available()) {
+ uint32_t count = tud_cdc_read(buf, length);
+ rc = count ? (int)count : PICO_ERROR_NO_DATA;
+ } else {
+ // because our mutex use may starve out the background task, run tud_task here (we own the mutex)
+ tud_task();
+ }
+ mutex_exit(&cdc_usb_mutex);
+ }
+ return rc;
+}
+
+bool cdc_usb_init(void)
+{
+ if (get_core_num() != alarm_pool_core_num(alarm_pool_get_default())) {
+ // included an assertion here rather than just returning false, as this is likely
+ // a coding bug, rather than anything else.
+ assert(false);
+ return false;
+ }
+
+ // initialize TinyUSB, as user hasn't explicitly linked it
+ tusb_init();
+
+ if (!mutex_is_initialized(&cdc_usb_mutex)) {
+ mutex_init(&cdc_usb_mutex);
+ }
+ bool rc = true;
+ low_priority_irq_num = (uint8_t)user_irq_claim_unused(true);
+
+ irq_set_exclusive_handler(low_priority_irq_num, low_priority_worker_irq);
+ irq_set_enabled(low_priority_irq_num, true);
+
+ if (irq_has_shared_handler(USBCTRL_IRQ)) {
+ critical_section_init_with_lock_num(&one_shot_timer_crit_sec, spin_lock_claim_unused(true));
+ // we can use a shared handler to notice when there may be work to do
+ irq_add_shared_handler(USBCTRL_IRQ, usb_irq, PICO_SHARED_IRQ_HANDLER_LOWEST_ORDER_PRIORITY);
+ } else {
+ // we use initialization state of the one_shot_timer_critsec as a flag
+ memset(&one_shot_timer_crit_sec, 0, sizeof(one_shot_timer_crit_sec));
+ rc = add_alarm_in_us(CDC_USB_TASK_INTERVAL_US, timer_task, NULL, true) >= 0;
+ }
+
+ configured = rc;
+ return rc;
+}
+
+bool cdc_usb_deinit(void)
+{
+ if (get_core_num() != alarm_pool_core_num(alarm_pool_get_default())) {
+ // included an assertion here rather than just returning false, as this is likely
+ // a coding bug, rather than anything else.
+ assert(false);
+ return false;
+ }
+
+ assert(tud_inited()); // we expect the caller to have initialized when calling sdio_usb_init
+
+ if (irq_has_shared_handler(USBCTRL_IRQ)) {
+ spin_lock_unclaim(spin_lock_get_num(one_shot_timer_crit_sec.spin_lock));
+ critical_section_deinit(&one_shot_timer_crit_sec);
+ // we can use a shared handler to notice when there may be work to do
+ irq_remove_handler(USBCTRL_IRQ, usb_irq);
+ } else {
+ // timer is disabled by disabling the irq
+ }
+
+ irq_set_enabled(low_priority_irq_num, false);
+ user_irq_unclaim(low_priority_irq_num);
+
+ configured = false;
+ return true;
+}
+
+bool cdc_usb_configured(void)
+{
+ return configured;
+}
+
+bool cdc_usb_connected(void)
+{
+ return tud_cdc_connected();
+}
+
+bool cdc_usb_bytes_available(void)
+{
+ return tud_cdc_available();
+}
+
+uint32_t cdc_usb_baud_rate(void)
+{
+ return CDC_USD_BAUD_RATE;
+}
+
+uint32_t cdc_usb_tx_bytes_free(void)
+{
+ return tud_cdc_write_available();
+}
diff --git a/src/platform/PICO/usb/usb_descriptors.c b/src/platform/PICO/usb/usb_descriptors.c
new file mode 100644
index 0000000000..0275371704
--- /dev/null
+++ b/src/platform/PICO/usb/usb_descriptors.c
@@ -0,0 +1,186 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see .
+ */
+
+/*
+ * This file is based on a file originally part of the
+ * MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+ * Copyright (c) 2019 Damien P. George
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "tusb.h"
+#include "pico/unique_id.h"
+#include "common/utils.h"
+
+#ifndef USBD_VID
+ // Raspberry Pi
+#define USBD_VID (0x2E8A)
+#endif
+
+#ifndef USBD_PID
+#if PICO_RP2040
+ // Raspberry Pi Pico SDK CDC for RP2040
+#define USBD_PID (0x000a)
+#else
+ // Raspberry Pi Pico SDK CDC
+#define USBD_PID (0x0009)
+#endif
+#endif
+
+#ifndef USBD_MANUFACTURER
+#define USBD_MANUFACTURER "Betaflight Pico"
+#endif
+
+#ifndef USBD_PRODUCT
+#define USBD_PRODUCT "Pico"
+#endif
+
+#define TUD_RPI_RESET_DESC_LEN 9
+#define USBD_DESC_LEN (TUD_CONFIG_DESC_LEN + TUD_CDC_DESC_LEN + TUD_RPI_RESET_DESC_LEN)
+
+#define USBD_CONFIGURATION_DESCRIPTOR_ATTRIBUTE 0
+#define USBD_MAX_POWER_MA 250
+
+#define USBD_ITF_CDC 0 // needs 2 interfaces
+#define USBD_ITF_MAX 2
+
+#define USBD_CDC_EP_CMD 0x81
+#define USBD_CDC_EP_OUT 0x02
+#define USBD_CDC_EP_IN 0x82
+#define USBD_CDC_CMD_MAX_SIZE 8
+#define USBD_CDC_IN_OUT_MAX_SIZE 64
+
+#define USBD_STR_0 0x00
+#define USBD_STR_MANUF 0x01
+#define USBD_STR_PRODUCT 0x02
+#define USBD_STR_SERIAL 0x03
+#define USBD_STR_CDC 0x04
+#define USBD_STR_RPI_RESET 0x05
+
+// Note: descriptors returned from callbacks must exist long enough for transfer to complete
+
+static const tusb_desc_device_t usbd_desc_device = {
+ .bLength = sizeof(tusb_desc_device_t),
+ .bDescriptorType = TUSB_DESC_DEVICE,
+ .bcdUSB = 0x0200,
+ .bDeviceClass = TUSB_CLASS_MISC,
+ .bDeviceSubClass = MISC_SUBCLASS_COMMON,
+ .bDeviceProtocol = MISC_PROTOCOL_IAD,
+ .bMaxPacketSize0 = CFG_TUD_ENDPOINT0_SIZE,
+ .idVendor = USBD_VID,
+ .idProduct = USBD_PID,
+ .bcdDevice = 0x0100,
+ .iManufacturer = USBD_STR_MANUF,
+ .iProduct = USBD_STR_PRODUCT,
+ .iSerialNumber = USBD_STR_SERIAL,
+ .bNumConfigurations = 1,
+};
+
+#define TUD_RPI_RESET_DESCRIPTOR(_itfnum, _stridx) \
+ /* Interface */\
+ 9, TUSB_DESC_INTERFACE, _itfnum, 0, 0, TUSB_CLASS_VENDOR_SPECIFIC, RESET_INTERFACE_SUBCLASS, RESET_INTERFACE_PROTOCOL, _stridx,
+
+static const uint8_t usbd_desc_cfg[USBD_DESC_LEN] = {
+ TUD_CONFIG_DESCRIPTOR(1, USBD_ITF_MAX, USBD_STR_0, USBD_DESC_LEN,
+ USBD_CONFIGURATION_DESCRIPTOR_ATTRIBUTE, USBD_MAX_POWER_MA),
+
+ TUD_CDC_DESCRIPTOR(USBD_ITF_CDC, USBD_STR_CDC, USBD_CDC_EP_CMD,
+ USBD_CDC_CMD_MAX_SIZE, USBD_CDC_EP_OUT, USBD_CDC_EP_IN, USBD_CDC_IN_OUT_MAX_SIZE),
+};
+
+static char usbd_serial_str[PICO_UNIQUE_BOARD_ID_SIZE_BYTES * 2 + 1];
+
+static const char *const usbd_desc_str[] = {
+ [USBD_STR_MANUF] = USBD_MANUFACTURER,
+ [USBD_STR_PRODUCT] = USBD_PRODUCT,
+ [USBD_STR_SERIAL] = usbd_serial_str,
+ [USBD_STR_CDC] = "Board CDC",
+};
+
+const uint8_t *tud_descriptor_device_cb(void)
+{
+ return (const uint8_t *)&usbd_desc_device;
+}
+
+const uint8_t *tud_descriptor_configuration_cb(uint8_t index)
+{
+ UNUSED(index);
+ return usbd_desc_cfg;
+}
+
+const uint16_t *tud_descriptor_string_cb(uint8_t index, uint16_t langid)
+{
+ UNUSED(langid);
+
+#ifndef USBD_DESC_STR_MAX
+#define USBD_DESC_STR_MAX (20)
+#elif USBD_DESC_STR_MAX > 127
+#error USBD_DESC_STR_MAX too high (max is 127).
+#elif USBD_DESC_STR_MAX < 17
+#error USBD_DESC_STR_MAX too low (min is 17).
+#endif
+ static uint16_t desc_str[USBD_DESC_STR_MAX];
+
+ // Assign the SN using the unique flash id
+ if (!usbd_serial_str[0]) {
+ pico_get_unique_board_id_string(usbd_serial_str, sizeof(usbd_serial_str));
+ }
+
+ unsigned len;
+ if (index == 0) {
+ desc_str[1] = 0x0409; // supported language is English
+ len = 1;
+ } else {
+ if (index >= ARRAYLEN(usbd_desc_str)) {
+ return NULL;
+ }
+ const char *str = usbd_desc_str[index];
+ for (len = 0; len < USBD_DESC_STR_MAX - 1 && str[len]; ++len) {
+ desc_str[1 + len] = str[len];
+ }
+ }
+
+ // first byte is length (including header), second byte is string type
+ desc_str[0] = (uint16_t)((TUSB_DESC_STRING << 8) | (2 * len + 2));
+
+ return desc_str;
+}