diff --git a/.gitignore b/.gitignore
index 598c26416..4fc8d00c1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -227,6 +227,13 @@ IDE/Renesas/e2studio/RX72N/app_RenesasRX01/src/smc_gen
 IDE/Renesas/e2studio/RX72N/wolfBoot/HardwareDebug
 IDE/Renesas/e2studio/RX72N/wolfBoot/src/smc_gen
 
+# IDE pico-sdk build directories
+IDE/pico-sdk/rp2350/wolfboot/build
+IDE/pico-sdk/rp2350/test-app/build
+
+# Third party test application distributed off-tree
+IDE/pico-sdk/rp2350/test-app/blink.c
+
 # Renesas Libraries
 lib/r_bsp
 lib/r_config
diff --git a/IDE/pico-sdk/rp2350/README.md b/IDE/pico-sdk/rp2350/README.md
new file mode 100644
index 000000000..b3290fcd0
--- /dev/null
+++ b/IDE/pico-sdk/rp2350/README.md
@@ -0,0 +1,95 @@
+## wolfBoot port for rp2350 (Raspberry pi pico 2)
+
+### Requirements 
+
+#### External debugger
+
+As the two images (bootloader + application) are stored in different areas in
+the flash memory, a SWD connector is required to upload the binary images into
+the flash, as opposed to the default bootloader, allowing to upload non-signed
+applications into a storage device
+
+#### PicoSDK
+
+Clone the repository from raspberrypi's github: 
+
+```
+git clone https://github.com/raspberrypi/pico-sdk.git
+```
+
+Export the `PICO_SDK_PATH` environment variable to point to the pico-sdk directory:
+
+```
+export PICO_SDK_PATH=/path/to/pico-sdk
+```
+
+### Configuring wolfBoot to build with pico-sdk
+
+From wolfBoot root directory, copy the example configuration:
+
+```
+cp config/examples/rp2350.config .config
+```
+
+By default, the config file indicates the following partition layout:
+
+```
+wolfBoot partition: 256 KB, at address 0x10000000 to 0x1003FFFF
+Boot partition:     768 KB, at address 0x10040000 to 0x1007FFFF
+Update partition:   768 KB, at address 0x10100000 to 0x1013FFFF
+Swap space:           4 KB, at address 0x101C0000 to 0x101C0FFF
+Unused flash space: 252 KB, at address 0x101C1000 to 0x101FFFFF
+```
+
+You can now edit the .config file to change partition sizes/offsets, algorithms,
+add/remove features, etc.
+
+When the configuration is complete, run `make`. This will:
+
+- Build the key tools (keygen & sign):
+- Generate the configuration header `target.h`
+- Generate a new keypair (only once), and place the public key in the
+keystore
+
+The environment has now been prepared to build and flash the two images
+(wolfBoot + test application).
+
+### Building and uploading wolfBoot.bin
+
+After preparing the configuration and creating the keypair,
+return to this directory and run:
+
+```
+cd wolfboot
+./build-wolfboot.sh
+```
+
+The script above will compile wolfboot as rp2350 second-stage bootloader.
+This version of wolfboot incorporates the `.boot2` sequence needed to enable
+the QSPI device, provided by the pico-sdk and always embedded in all
+applications.
+
+wolfboot.bin contains the bootloader, configured as follows:
+
+### Building and uploading the application
+
+```
+cd test-app
+./build-signed-app.sh
+```
+The script above will compile the test application and sign it with the
+wolfBoot private key. The signed application is then uploaded to the boot
+partition of the flash memory, at address 0x10040000.
+
+The linker script included is modified to change the application entry point
+from 0x10000000 to 0x10040400, which is the start of the application code,
+taking into account the wolfBoot header size.
+
+
+### Testing the application
+
+The application is a simple blinky example, which toggles the LED on the board
+every 500ms.
+
+If the above steps are successful, the LED on the board should start blinking.
+
diff --git a/IDE/pico-sdk/rp2350/test-app/CMakeLists.txt b/IDE/pico-sdk/rp2350/test-app/CMakeLists.txt
new file mode 100644
index 000000000..cd7825a58
--- /dev/null
+++ b/IDE/pico-sdk/rp2350/test-app/CMakeLists.txt
@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.13)
+set(WOLFBOOT_PATH ../../../../)
+set(CMAKE_CXX_COMPILER arm-none-eabi-gcc)
+
+include(${PICO_SDK_PATH}/pico_sdk_init.cmake)
+
+set(PICOTOOL_FETCH_FROM_GIT_PATH ../wolfboot/build/picotool)
+set(BOOT_STAGE2_FILE ${CMAKE_CURRENT_LIST_DIR}/boot2_empty.S)
+
+project(blink)
+
+# initialize the Raspberry Pi Pico SDK
+pico_sdk_init()
+
+
+add_executable(blink
+    blink.c
+)
+
+target_link_libraries(blink pico_stdlib)
+
+# create map/bin/hex/uf2 file etc.
+pico_add_extra_outputs(blink)
+
diff --git a/IDE/pico-sdk/rp2350/test-app/build-signed-app.sh b/IDE/pico-sdk/rp2350/test-app/build-signed-app.sh
new file mode 100755
index 000000000..e96eaca48
--- /dev/null
+++ b/IDE/pico-sdk/rp2350/test-app/build-signed-app.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+
+mkdir -p build
+cd build
+cmake .. -DPICO_SDK_PATH=$PICO_SDK_PATH -DPICO_PLATFORM=rp2350
+cat pico_flash_region.ld | sed -e "s/0x10000000/0x10040400/g" >pico_flash_region_wolfboot.ld
+cp pico_flash_region_wolfboot.ld pico_flash_region.ld
+
+# Get off-tree source file from raspberry pico-examples
+curl -o blink.c https://raw.githubusercontent.com/raspberrypi/pico-examples/refs/tags/sdk-2.1.0/blink/blink.c
+
+make clean && make
+
+IMAGE_HEADER_SIZE=1024 ../../../../../tools/keytools/sign --sha256 --ecc256 blink.bin \
+    ../../../../../wolfboot_signing_private_key.der 1
+
+cd ..
+
+JLinkExe -Device RP2350_M33_0 -If swd -Speed 4000 -CommanderScript flash_app.jlink
diff --git a/IDE/pico-sdk/rp2350/test-app/flash_app.jlink b/IDE/pico-sdk/rp2350/test-app/flash_app.jlink
new file mode 100644
index 000000000..d0d9e4bd1
--- /dev/null
+++ b/IDE/pico-sdk/rp2350/test-app/flash_app.jlink
@@ -0,0 +1,6 @@
+connect
+r
+loadfile build/blink_v1_signed.bin 0x10040000
+r
+g
+exit
diff --git a/IDE/pico-sdk/rp2350/wolfboot/.gdbinit b/IDE/pico-sdk/rp2350/wolfboot/.gdbinit
new file mode 100644
index 000000000..6facaeb01
--- /dev/null
+++ b/IDE/pico-sdk/rp2350/wolfboot/.gdbinit
@@ -0,0 +1,5 @@
+tar rem:3333
+file build/wolfboot.elf
+add-symbol-file ../test-app/build/blink.elf
+foc c
+
diff --git a/IDE/pico-sdk/rp2350/wolfboot/CMakeLists.txt b/IDE/pico-sdk/rp2350/wolfboot/CMakeLists.txt
new file mode 100644
index 000000000..5ae1fb32b
--- /dev/null
+++ b/IDE/pico-sdk/rp2350/wolfboot/CMakeLists.txt
@@ -0,0 +1,72 @@
+cmake_minimum_required(VERSION 3.13)
+set(WOLFBOOT_PATH ../../../../)
+set(CMAKE_CXX_COMPILER arm-none-eabi-gcc)
+
+include(${PICO_SDK_PATH}/pico_sdk_init.cmake)
+
+set(PICOTOOL_FETCH_FROM_GIT_PATH build/picotool)
+
+project(wolfboot)
+
+# initialize the Raspberry Pi Pico SDK
+pico_sdk_init()
+
+
+add_executable(wolfboot 
+    ${WOLFBOOT_PATH}/src/image.c
+    ${WOLFBOOT_PATH}/src/loader.c
+    ${WOLFBOOT_PATH}/src/update_flash.c
+    ${WOLFBOOT_PATH}/src/keystore.c
+    ${WOLFBOOT_PATH}/src/libwolfboot.c
+    ${WOLFBOOT_PATH}/src/boot_arm.c
+
+    ${WOLFBOOT_PATH}/hal/rp2350.c
+
+    ${WOLFBOOT_PATH}/lib/wolfssl/wolfcrypt/src/sp_int.c
+    ${WOLFBOOT_PATH}/lib/wolfssl/wolfcrypt/src/sp_cortexm.c
+    ${WOLFBOOT_PATH}/lib/wolfssl/wolfcrypt/src/memory.c
+    ${WOLFBOOT_PATH}/lib/wolfssl/wolfcrypt/src/random.c
+    ${WOLFBOOT_PATH}/lib/wolfssl/wolfcrypt/src/sha256.c
+    ${WOLFBOOT_PATH}/lib/wolfssl/wolfcrypt/src/sha512.c
+    ${WOLFBOOT_PATH}/lib/wolfssl/wolfcrypt/src/aes.c
+    ${WOLFBOOT_PATH}/lib/wolfssl/wolfcrypt/src/ecc.c
+)
+
+# Add cflags
+target_compile_options(wolfboot PRIVATE
+    -D__WOLFBOOT
+    -D__ARM_ARCH_6M__
+    -DWOLFSSL_USER_SETTINGS
+    -mcpu=cortex-m33
+    -DCORTEX_M33
+    -DWOLFSSL_SP_ASM
+    -DWOLFSSL_SP_ARM_CORTEX_M_ASM
+    -DWOLFSSL_ARM_ARCH=8
+    -DARCH_FLASH_OFFSET=0x10000000
+    -DWOLFBOOT_ORIGIN=0x10000000
+    -DBOOTLOADER_PARTITION_SIZE=0x40000
+    -DWOLFBOOT_ARCH_ARM
+    -DTARGET_rp2350
+    -DWOLFBOOT_SIGN_ECC256
+    -DRAM_CODE
+    -DFILL_BYTE=0xFF
+    -Os
+    -DWOLFBOOT_NO_MPU
+    -DWOLFBOOT_HASH_SHA256
+    -DIMAGE_HEADER_SIZE=1024
+    -Wstack-usage=7632
+)
+
+
+target_include_directories(wolfboot PRIVATE 
+    ${WOLFBOOT_PATH}/include
+    ${WOLFBOOT_PATH}/lib/wolfssl
+)
+
+target_link_libraries(wolfboot pico_stdlib hardware_flash)
+
+pico_enable_stdio_usb(wolfboot 1)
+pico_enable_stdio_uart(wolfboot 0)
+
+
+pico_add_extra_outputs(wolfboot)
diff --git a/IDE/pico-sdk/rp2350/wolfboot/build-wolfboot.sh b/IDE/pico-sdk/rp2350/wolfboot/build-wolfboot.sh
new file mode 100755
index 000000000..8a96587a7
--- /dev/null
+++ b/IDE/pico-sdk/rp2350/wolfboot/build-wolfboot.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+#cd ../../../.. && make keytools && make src/keystore.c && cd -
+cd ../../../.. && make include/target.h && cd -
+mkdir -p build
+cd build
+cmake .. -DPICO_SDK_PATH=$PICO_SDK_PATH -DPICO_PLATFORM=rp2350
+make clean && make
+cd ..
+JLinkExe -Device RP2350_M33_0 -If swd -Speed 4000 -CommanderScript erase.jlink
+JLinkExe -Device RP2350_M33_0 -If swd -Speed 4000 -CommanderScript flash_wolfboot.jlink
diff --git a/IDE/pico-sdk/rp2350/wolfboot/debug.sh b/IDE/pico-sdk/rp2350/wolfboot/debug.sh
new file mode 100755
index 000000000..008ad0a8d
--- /dev/null
+++ b/IDE/pico-sdk/rp2350/wolfboot/debug.sh
@@ -0,0 +1,2 @@
+#!/bin/bash
+JLinkGDBServer -Device RP2350_M33_0 -If swd -Speed 4000 -port 3333
diff --git a/IDE/pico-sdk/rp2350/wolfboot/erase.jlink b/IDE/pico-sdk/rp2350/wolfboot/erase.jlink
new file mode 100644
index 000000000..a4f1f72aa
--- /dev/null
+++ b/IDE/pico-sdk/rp2350/wolfboot/erase.jlink
@@ -0,0 +1,6 @@
+connect
+r
+erase
+r
+h
+exit
diff --git a/IDE/pico-sdk/rp2350/wolfboot/flash_wolfboot.jlink b/IDE/pico-sdk/rp2350/wolfboot/flash_wolfboot.jlink
new file mode 100644
index 000000000..bc0515010
--- /dev/null
+++ b/IDE/pico-sdk/rp2350/wolfboot/flash_wolfboot.jlink
@@ -0,0 +1,6 @@
+connect
+r
+loadfile build/wolfboot.bin 0x10000000
+r
+g
+exit
diff --git a/Makefile b/Makefile
index cf9fdec2d..fee715291 100644
--- a/Makefile
+++ b/Makefile
@@ -148,6 +148,10 @@ ifeq ($(TARGET),sama5d3)
     MAIN_TARGET:=wolfboot.bin test-app/image_v1_signed.bin
 endif
 
+ifeq ($(TARGET),rp2350)
+    MAIN_TARGET:=include/target.h keytools wolfboot_signing_private_key.der pico-sdk-info
+endif
+
 
 ifeq ($(FLASH_OTP_KEYSTORE),1)
     MAIN_TARGET+=tools/keytools/otp/otp-keystore-primer.bin
@@ -447,6 +451,9 @@ secondary: $(SECONDARY_PRIVATE_KEY)
 	@echo "\t[AS-$(ARCH)] $@"
 	$(Q)$(CC) $(CFLAGS) -c $(OUTPUT_FLAG) $@ $^
 
+pico-sdk-info: FORCE
+	@echo "To complete the build, check IDE/pico-sdk/rp2350"
+
 FORCE:
 
 .PHONY: FORCE clean keytool_check
diff --git a/arch.mk b/arch.mk
index b517062f3..18de2e484 100644
--- a/arch.mk
+++ b/arch.mk
@@ -211,6 +211,21 @@ ifeq ($(ARCH),ARM)
     SPI_TARGET=stm32
   endif
 
+  ifeq ($(TARGET),rp2350)
+    CORTEX_M33=1
+    CFLAGS+=-Ihal
+    ARCH_FLASH_OFFSET=0x10000000
+    WOLFBOOT_ORIGIN=0x10000000
+    ifeq ($(TZEN),1)
+      LSCRIPT_IN=hal/$(TARGET).ld
+    else
+      LSCRIPT_IN=hal/$(TARGET)-ns.ld
+    endif
+    SPI_TARGET=raspberrypi_pico
+    CFLAGS+=-DPICO_SDK_PATH=$(PICO_SDK_PATH)
+    CFLAGS+=-I$(PICO_SDK_PATH)/src/common/pico_stdlib_headers/include
+  endif
+
   ifeq ($(TARGET),sama5d3)
      CORTEX_A5=1
      UPDATE_OBJS:=src/update_ram.o
@@ -1070,7 +1085,7 @@ ifeq ($(TARGET),sim)
     CFLAGS+=-DWOLFSSL_SP_DIV_WORD_HALF
   endif
   ifeq ($(WOLFHSM_CLIENT),1)
-	  WOLFHSM_CLIENT_OBJS += $(LIBDIR)/wolfHSM/port/posix/posix_transport_tcp.o
+    WOLFHSM_CLIENT_OBJS += $(LIBDIR)/wolfHSM/port/posix/posix_transport_tcp.o
   endif
 endif
 
diff --git a/config/examples/rp2350.config b/config/examples/rp2350.config
new file mode 100644
index 000000000..bf08911a6
--- /dev/null
+++ b/config/examples/rp2350.config
@@ -0,0 +1,25 @@
+ARCH?=ARM
+TZEN?=0
+TARGET?=rp2350
+SIGN?=ECC256
+HASH?=SHA256
+DEBUG?=0
+VTOR?=1
+CORTEX_M33?=1
+NO_ASM?=0
+NO_MPU=1
+EXT_FLASH?=0
+SPI_FLASH?=0
+ALLOW_DOWNGRADE?=0
+SPMATH?=1
+RAM_CODE?=1
+WOLFBOOT_PARTITION_SIZE?=0xC0000
+WOLFBOOT_SECTOR_SIZE?=0x2000
+WOLFBOOT_PARTITION_BOOT_ADDRESS=0x10040000
+WOLFBOOT_PARTITION_UPDATE_ADDRESS=0x10100000
+WOLFBOOT_PARTITION_SWAP_ADDRESS=0x101C0000
+
+PICO_SDK_PATH=/home/dan/src/pico-sdk
+
+# Use a larger image header size to enforce alignment requirements for the interrupt vector table
+IMAGE_HEADER_SIZE?=1024
diff --git a/docs/Targets.md b/docs/Targets.md
index 435088b57..6ccee1ae2 100644
--- a/docs/Targets.md
+++ b/docs/Targets.md
@@ -22,6 +22,7 @@ This README describes configuration of supported targets.
 * [NXP T1024 PPC](#nxp-qoriq-t1024-ppc)
 * [NXP T2080 PPC](#nxp-qoriq-t2080-ppc)
 * [Qemu x86-64 UEFI](#qemu-x86-64-uefi)
+* [Raspberry Pi pico 2 (rp2350)](#raspberry-pi-pico-rp2350)
 * [Renesas RA6M4](#renesas-ra6m4)
 * [Renesas RX65N](#renesas-rx65n)
 * [Renesas RX72N](#renesas-rx72n)
@@ -2510,6 +2511,10 @@ make test-sim-internal-flash-with-update
 Note: This also works on Mac OS, but `objcopy` does not exist. Install with `brew install binutils` and make using `OBJCOPY=/usr/local/Cellar//binutils/2.41/bin/objcopy make`.
 
 
+## Raspberry Pi Pico rp2350
+
+See instructions in [IDE/pico-sdk/rp2350/README.md](/IDE/pico-sdk/rp2350/README.md)
+
 ## Renesas RX65N
 
 Tested on the:
diff --git a/hal/rp2350.c b/hal/rp2350.c
new file mode 100644
index 000000000..c47c4a71c
--- /dev/null
+++ b/hal/rp2350.c
@@ -0,0 +1,61 @@
+/* rp2350.c
+ *
+ * Stubs for custom HAL implementation. Defines the 
+ * functions used by wolfboot for a specific target.
+ *
+ * Copyright (C) 2021 wolfSSL Inc.
+ *
+ * This file is part of wolfBoot.
+ *
+ * wolfBoot is free software; you can redistribute it and/or modify
+ * it 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.
+ *
+ * wolfBoot 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 program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1335, USA
+ */
+
+#include <stdint.h>
+#include <target.h>
+#include "image.h"
+#include "printf.h"
+
+#ifdef __WOLFBOOT
+void hal_init(void)
+{
+#ifdef PRINTF_ENABLED
+    stdio_init_all();
+#endif
+}
+
+void hal_prepare_boot(void)
+{
+}
+
+#endif
+
+int RAMFUNCTION hal_flash_write(uint32_t address, const uint8_t *data, int len)
+{
+    return 0; /* on success. */
+}
+
+void RAMFUNCTION hal_flash_unlock(void)
+{
+}
+
+void RAMFUNCTION hal_flash_lock(void)
+{
+}
+
+int RAMFUNCTION hal_flash_erase(uint32_t address, int len)
+{
+    return 0; /* on success. */
+}
+
diff --git a/src/boot_arm.c b/src/boot_arm.c
index d975365c0..a1f2790e4 100644
--- a/src/boot_arm.c
+++ b/src/boot_arm.c
@@ -397,7 +397,7 @@ void isr_empty(void)
 
 
 
-#if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U)
+#if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) && defined(TZEN)
 #   define isr_securefault isr_fault
 #else
 #   define isr_securefault 0
@@ -446,7 +446,7 @@ void RAMFUNCTION do_boot(const uint32_t *app_offset)
     /* Update IV */
     VTOR = ((uint32_t)app_offset);
     asm volatile("msr msplim, %0" ::"r"(0));
-#   if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U)
+#   if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) && defined(TZEN)
     asm volatile("msr msp_ns, %0" ::"r"(app_end_stack));
     /* Jump to non secure app_entry */
     asm volatile("mov r7, %0" ::"r"(app_entry));
@@ -527,7 +527,7 @@ void (* const IV[])(void) =
 
     /* Fill with extra unused handlers */
 #if defined(TARGET_stm32l5) || defined(TARGET_stm32u5) || \
-    defined(TARGET_stm32h7)
+    defined(TARGET_stm32h7) || defined(TARGET_rp2350)
     isr_empty,
     isr_empty,
     isr_empty,
diff --git a/src/update_flash.c b/src/update_flash.c
index 20cc67cc0..3fbf83091 100644
--- a/src/update_flash.c
+++ b/src/update_flash.c
@@ -39,7 +39,12 @@ int WP11_Library_Init(void);
 #endif
 
 #ifdef RAM_CODE
+#ifndef TARGET_rp2350
 extern unsigned int _start_text;
+#else
+extern unsigned int __logical_binary_start;
+unsigned int _start_text = (unsigned int)&__logical_binary_start;
+#endif
 static volatile const uint32_t __attribute__((used)) wolfboot_version = WOLFBOOT_VERSION;
 
 #ifdef EXT_FLASH