diff --git a/Documentation/platforms/arm/rp2040/boards/waveshare-rp2040-zero/WaveshareRP2040Zero.png b/Documentation/platforms/arm/rp2040/boards/waveshare-rp2040-zero/WaveshareRP2040Zero.png
new file mode 100644
index 0000000000000..270cc6c571cbc
Binary files /dev/null and b/Documentation/platforms/arm/rp2040/boards/waveshare-rp2040-zero/WaveshareRP2040Zero.png differ
diff --git a/Documentation/platforms/arm/rp2040/boards/waveshare-rp2040-zero/index.rst b/Documentation/platforms/arm/rp2040/boards/waveshare-rp2040-zero/index.rst
new file mode 100644
index 0000000000000..77969ae29b1b4
--- /dev/null
+++ b/Documentation/platforms/arm/rp2040/boards/waveshare-rp2040-zero/index.rst
@@ -0,0 +1,234 @@
+===============================
+Waveshare RP2040 Zero
+===============================
+
+The `Waveshare RP2040 Zero <https://www.waveshare.com/wiki/RP2040-Zero>`_ is a general purpose board supplied by
+Waveshare.
+
+.. figure:: WaveshareRP2040Zero.png
+   :align: center
+
+Features
+========
+
+* RP2040 microcontroller chip
+* Dual-core ARM Cortex M0+ processor, flexible clock running up to 133 MHz
+* 264kB of SRAM, and 2MB of on-board Flash memory
+* Castellated module allows soldering direct to carrier boards
+* USB 1.1 Host and Device support
+* Low-power sleep and dormant modes
+* Drag & drop programming using mass storage over USB
+* 20 multi-function GPIO pins
+* 2× SPI, 2× I2C, 2× UART, 3× 12-bit ADC, 16× controllable PWM channels
+* Accurate clock and timer on-chip
+* Temperature sensor
+* Accelerated floating point libraries on-chip
+* 8 × Programmable IO (PIO) state machines for custom peripheral support
+
+Serial Console
+==============
+
+By default a serial console appears on pins 23 (TX GPIO0) and pin 22
+(RX GPIO1).  This console runs a 115200-8N1.
+
+The board can be configured to use the USB connection as the serial console.
+
+Buttons and LEDs
+================
+
+A ws2812 (NeoPixel) smart RGB LED controlled by GPIO16 (data).
+
+There is a BOOT button which if held down when power is first
+applied or the RESET button is pressed will cause the RP2040 to
+boot into program mode and appear as a storage device to
+a USB connecter.  Saving a .UF2 file to this device will
+replace the Flash ROM contents on the RP2040.
+
+Pin Mapping
+===========
+Pads numbered anticlockwise from USB connector.
+
+===== ========== ==========
+Pad   Signal     Notes
+===== ========== ==========
+1     5V
+2     Ground
+3     3.3V
+4     GPIO29
+5     GPIO28
+6     GPIO27
+7     GPIO26
+8     GPIO15
+9     GPIO14
+10    GPIO13
+11    GPIO12
+12    GPIO11     Default TX for SPI1
+13    GPIO10     Default SCK for SPI1
+14    GPIO9      Default CSn for SPI1
+15    GPIO8      Default RX for SPI1
+16    GPIO7      Default SCL for I2C1
+17    GPIO6      Default SDA for I2C1
+18    GPIO5      Default SCL for I2C0
+19    GPIO4      Default SDA for I2C0
+20    GPIO3
+21    GPIO2
+22    GPIO1      Default RX for UART0 serial console
+23    GPIO0      Default TX for UART0 serial console
+===== ========== ==========
+
+
+Power Supply
+============
+
+The Waveshare RP2040 Zero can be powered via the USB connector,
+or by supplying +5V to pin 1.
+
+The RP2040 runs on 3.3 volts.  This is supplied
+by an onboard voltage regulator.
+
+Supported Capabilities
+======================
+
+NuttX supports the following RP2040 capabilities:
+
+* UART  (console port)
+
+  * GPIO 0 (UART0 TX) and GPIO 1 (UART0 RX) are used for the console.
+
+* I2C
+* SPI (master only)
+* DMAC
+* PWM
+* ADC
+* Watchdog
+* USB device
+
+  * MSC, CDC/ACM serial and these composite device are supported.
+  * CDC/ACM serial device can be used for the console.
+
+* PIO (RP2040 Programmable I/O)
+* Flash ROM Boot
+* SRAM Boot
+
+  * If Pico SDK is available, nuttx.uf2 file which can be used in BOOTSEL mode will be created.
+
+* Persistent flash filesystem in unused flash ROM
+* WiFi wireless communication
+
+There is currently no direct user mode access to these RP2040 hardware features:
+
+* SPI Slave Mode
+* SSI
+* RTC
+* Timers
+
+NuttX also provide support for these external devices:
+
+* BMP180 sensor at I2C0 (don't forget to define I2C0 GPIOs at "I2C0 GPIO pin assign" in Board Selection menu)
+* INA219 sensor / module (don't forget to define I2C0 GPIOs at "I2C0 GPIO pin assign" in Board Selection menu)
+* SHT4X sensor at I2C0
+* Pico Display Pack (ST7789 LCD)
+
+  * RGB leds and buttons are not supported yet.
+
+* Pico Audio Pack (PCM5100A I2S DAC)
+
+  * I2S interface is realized by PIO.
+
+* WS2812 smart pixel support
+
+Installation
+============
+
+1. Download Raspberry Pi Pico SDK
+
+.. code-block:: console
+
+  $ git clone -b 2.0.0 https://github.com/raspberrypi/pico-sdk.git
+
+2. Download and install picotool
+
+  Instructions can be found here: https://github.com/raspberrypi/picotool
+
+  If you are on Arch Linux, you can install the picotool through the AUR:
+
+.. code-block:: console
+
+  $ yay -S picotool
+
+3. Set PICO_SDK_PATH environment variable
+
+.. code-block:: console
+
+  $ export PICO_SDK_PATH=<absolute_path_to_pico-sdk_directory>
+
+4. Configure and build NuttX
+
+.. code-block:: console
+
+  $ git clone https://github.com/apache/nuttx.git nuttx
+  $ git clone https://github.com/apache/nuttx-apps.git apps
+  $ cd nuttx
+  $ make distclean
+  $ ./tools/configure.sh waveshare-rp2040-zero:nsh
+  $ make V=1
+
+5. Connect Raspberry Pi Pico board to USB port while pressing BOOTSEL.
+   The board will be detected as USB Mass Storage Device.
+   Then copy "nuttx.uf2" into the device.
+   (Same manner as the standard Pico SDK applications installation.)
+
+6. To access the console, GPIO 0 and 1 pins must be connected to the
+   device such as USB-serial converter.
+
+   `usbnsh` configuration provides the console access by USB CDC/ACM serial
+   device.  The console is available by using a terminal software on the USB
+   host.
+
+
+Configurations
+==============
+
+gpio
+--------
+
+NuttShell configuration (console enabled in UART0, at 115200 bps) with GPIO examples.
+
+nsh
+---
+
+Basic NuttShell configuration (console enabled in UART0, at 115200 bps).
+
+
+usbnsh
+------
+
+Basic NuttShell configuration using CDC/ACM serial (console enabled in USB Port,
+at 115200 bps).
+
+ws2812
+------
+
+Basic NuttShell configuration with WS2812 driver and example enabled. Console is enabled over USB at 115200 bps.
+
+License exceptions
+==================
+
+The following files are originated from the files in Pico SDK.
+So, the files are licensed under 3-Clause BSD same as Pico SDK.
+
+* arch/arm/src/rp2040/rp2040_clock.c
+* arch/arm/src/rp2040/rp2040_pll.c
+* arch/arm/src/rp2040/rp2040_xosc.c
+
+  * These are created by referring the Pico SDK clock initialization.
+
+* arch/arm/src/rp2040/rp2040_pio.c
+* arch/arm/src/rp2040/rp2040_pio.h
+* arch/arm/src/rp2040/rp2040_pio_instructions.h
+
+  * These provide the similar APIs to Pico SDK's hardware_pio APIs.
+
+* arch/arm/src/rp2040/hardware/\*.h
+
+  * These are generated from rp2040.svd originally provided in Pico SDK.
diff --git a/boards/Kconfig b/boards/Kconfig
index 6312cf8f93a9b..b870cd591955b 100644
--- a/boards/Kconfig
+++ b/boards/Kconfig
@@ -1967,6 +1967,13 @@ config ARCH_BOARD_W5500_EVB_PICO
 		This is a port to the WIZnet W5500-EVB-Pico board.
 		Support is derived from Raspberry Pi Pico support.
 
+config ARCH_BOARD_WAVESHARE_RP2040_ZERO
+	bool "Waveshare RP2040 Zero board"
+	depends on ARCH_CHIP_RP2040
+	---help---
+		This is a port to the Waveshare RP2040 Zero board.
+		Support is derived from Raspberry Pi Pico support.
+
 config ARCH_BOARD_RX65N
 	bool "RX65N renesas board"
 	depends on ARCH_CHIP_R5F565NEDDFC
@@ -3445,6 +3452,7 @@ config ARCH_BOARD
 	default "adafruit-qt-py-rp2040"     if ARCH_BOARD_ADAFRUIT_QT_PY_RP2040
 	default "waveshare-rp2040-lcd-1.28" if ARCH_BOARD_WAVESHARE_RP2040_LCD_1_28
 	default "w5500-evb-pico"            if ARCH_BOARD_W5500_EVB_PICO
+        default "waveshare-rp2040-zero"     if ARCH_BOARD_WAVESHARE_RP2040_ZERO
 	default "rx65n"                     if ARCH_BOARD_RX65N
 	default "rx65n-rsk1mb"              if ARCH_BOARD_RX65N_RSK1MB
 	default "rx65n-rsk2mb"              if ARCH_BOARD_RX65N_RSK2MB
@@ -3906,6 +3914,9 @@ endif
 if ARCH_BOARD_ADAFRUIT_QT_PY_RP2040
 source "boards/arm/rp2040/adafruit-qt-py-rp2040/Kconfig"
 endif
+if ARCH_BOARD_WAVESHARE_RP2040_ZERO
+source "boards/arm/rp2040/waveshare-rp2040-zero/Kconfig"
+endif
 if ARCH_BOARD_ARDUINO_DUE
 source "boards/arm/sam34/arduino-due/Kconfig"
 endif
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/Kconfig b/boards/arm/rp2040/waveshare-rp2040-zero/Kconfig
new file mode 100644
index 0000000000000..3c6974663d7ba
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/Kconfig
@@ -0,0 +1,8 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+if ARCH_BOARD_WAVESHARE_RP2040_ZERO
+
+endif
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/configs/gpio/defconfig b/boards/arm/rp2040/waveshare-rp2040-zero/configs/gpio/defconfig
new file mode 100644
index 0000000000000..afc1cce361670
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/configs/gpio/defconfig
@@ -0,0 +1,53 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DEV_CONSOLE is not set
+# CONFIG_LIBC_LONG_LONG is not set
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_LOSMART is not set
+# CONFIG_RP2040_UART0 is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="waveshare-rp2040-zero"
+CONFIG_ARCH_BOARD_WAVESHARE_RP2040_ZERO=y
+CONFIG_ARCH_CHIP="rp2040"
+CONFIG_ARCH_CHIP_RP2040=y
+CONFIG_ARCH_RAMVECTORS=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=10450
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_CONSOLE=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEV_GPIO=y
+CONFIG_DISABLE_POSIX_TIMERS=y
+CONFIG_EXAMPLES_GPIO=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_READLINE=y
+CONFIG_NSH_USBCONSOLE=y
+CONFIG_RAM_SIZE=270336
+CONFIG_RAM_START=0x20000000
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_START_DAY=9
+CONFIG_START_MONTH=2
+CONFIG_START_YEAR=2021
+CONFIG_SYSTEM_NSH=y
+CONFIG_TESTING_GETPRIME=y
+CONFIG_TESTING_OSTEST=y
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/configs/nsh/defconfig b/boards/arm/rp2040/waveshare-rp2040-zero/configs/nsh/defconfig
new file mode 100644
index 0000000000000..bc2820f68b936
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/configs/nsh/defconfig
@@ -0,0 +1,47 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_LIBC_LONG_LONG is not set
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_LOSMART is not set
+# CONFIG_STANDARD_SERIAL is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="waveshare-rp2040-zero"
+CONFIG_ARCH_BOARD_WAVESHARE_RP2040_ZERO=y
+CONFIG_ARCH_CHIP="rp2040"
+CONFIG_ARCH_CHIP_RP2040=y
+CONFIG_ARCH_RAMVECTORS=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=10450
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DISABLE_POSIX_TIMERS=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_READLINE=y
+CONFIG_RAM_SIZE=270336
+CONFIG_RAM_START=0x20000000
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_START_DAY=9
+CONFIG_START_MONTH=2
+CONFIG_START_YEAR=2021
+CONFIG_SYSLOG_CONSOLE=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TESTING_GETPRIME=y
+CONFIG_TESTING_OSTEST=y
+CONFIG_UART0_SERIAL_CONSOLE=y
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/configs/usbnsh/defconfig b/boards/arm/rp2040/waveshare-rp2040-zero/configs/usbnsh/defconfig
new file mode 100644
index 0000000000000..1e794d5f753eb
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/configs/usbnsh/defconfig
@@ -0,0 +1,51 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DEV_CONSOLE is not set
+# CONFIG_LIBC_LONG_LONG is not set
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_LOSMART is not set
+# CONFIG_RP2040_UART0 is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="waveshare-rp2040-zero"
+CONFIG_ARCH_BOARD_WAVESHARE_RP2040_ZERO=y
+CONFIG_ARCH_CHIP="rp2040"
+CONFIG_ARCH_CHIP_RP2040=y
+CONFIG_ARCH_RAMVECTORS=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=10450
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_CONSOLE=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DISABLE_POSIX_TIMERS=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_READLINE=y
+CONFIG_NSH_USBCONSOLE=y
+CONFIG_RAM_SIZE=270336
+CONFIG_RAM_START=0x20000000
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_START_DAY=9
+CONFIG_START_MONTH=2
+CONFIG_START_YEAR=2021
+CONFIG_SYSTEM_NSH=y
+CONFIG_TESTING_GETPRIME=y
+CONFIG_TESTING_OSTEST=y
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/configs/ws2812/defconfig b/boards/arm/rp2040/waveshare-rp2040-zero/configs/ws2812/defconfig
new file mode 100644
index 0000000000000..6c7bde57dda8f
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/configs/ws2812/defconfig
@@ -0,0 +1,48 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="waveshare-rp2040-zero"
+CONFIG_ARCH_BOARD_WAVESHARE_RP2040_ZERO=y
+CONFIG_ARCH_CHIP="rp2040"
+CONFIG_ARCH_CHIP_RP2040=y
+CONFIG_ARCH_RAMVECTORS=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=10450
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_CONSOLE=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DISABLE_POSIX_TIMERS=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXAMPLES_WS2812=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_READLINE=y
+CONFIG_NSH_USBCONSOLE=y
+CONFIG_RAM_SIZE=270336
+CONFIG_RAM_START=0x20000000
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_RP2040_BOARD_HAS_WS2812=y
+CONFIG_RP2040_WS2812_GPIO_PIN=16
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_START_DAY=9
+CONFIG_START_MONTH=2
+CONFIG_START_YEAR=2021
+CONFIG_SYSTEM_NSH=y
+CONFIG_TESTING_GETPRIME=y
+CONFIG_TESTING_OSTEST=y
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_WS2812=y
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/include/board.h b/boards/arm/rp2040/waveshare-rp2040-zero/include/board.h
new file mode 100644
index 0000000000000..4435c37233061
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/include/board.h
@@ -0,0 +1,168 @@
+/****************************************************************************
+ * boards/arm/rp2040/waveshare-rp2040-zero/include/board.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM_WAVESHARE_RP2040_ZERO_INCLUDE_BOARD_H
+#define __BOARDS_ARM_WAVESHARE_RP2040_ZERO_INCLUDE_BOARD_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include "rp2040_i2cdev.h"
+#include "rp2040_spidev.h"
+#include "rp2040_i2sdev.h"
+
+#include "rp2040_spisd.h"
+
+#ifndef __ASSEMBLY__
+#  include <stdint.h>
+#endif
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Clocking *****************************************************************/
+
+#define MHZ                     1000000
+
+#define BOARD_XOSC_FREQ         (12 * MHZ)
+#define BOARD_PLL_SYS_FREQ      (125 * MHZ)
+#define BOARD_PLL_USB_FREQ      (48 * MHZ)
+
+#define BOARD_REF_FREQ          (12 * MHZ)
+#define BOARD_SYS_FREQ          (125 * MHZ)
+#define BOARD_PERI_FREQ         (125 * MHZ)
+#define BOARD_USB_FREQ          (48 * MHZ)
+#define BOARD_ADC_FREQ          (48 * MHZ)
+#define BOARD_RTC_FREQ          46875
+
+#define BOARD_UART_BASEFREQ     BOARD_PERI_FREQ
+
+#define BOARD_TICK_CLOCK        (1 * MHZ)
+
+/* GPIO definitions *********************************************************/
+
+#define BOARD_GPIO_LED_PIN_B  25
+#define BOARD_GPIO_LED_PIN_R  17
+#define BOARD_GPIO_LED_PIN_G  16
+
+#define BOARD_NGPIOOUT          3
+#define BOARD_NGPIOIN           1
+#define BOARD_NGPIOINT          1
+
+/* LED definitions **********************************************************/
+
+/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs
+ * in any way. The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_LED3        2
+
+#define BOARD_NLEDS       3
+
+#define BOARD_LED_BLUE    BOARD_LED1
+#define BOARD_LED_RED     BOARD_LED2
+#define BOARD_LED_GREEN   BOARD_LED3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+#define BOARD_LED3_BIT    (1 << BOARD_LED3)
+
+/* This LED is not used by the board port unless CONFIG_ARCH_LEDS is
+ * defined.  In that case, the usage by the board port is defined in
+ * include/board.h and src/rp2040_autoleds.c. The LED is used to encode
+ * OS-related events as follows:
+ *
+ *   -------------------- ----------------------------- ------
+ *   SYMBOL                   Meaning                   LED
+ *   -------------------- ----------------------------- ------
+ */
+
+#define LED_STARTED       0  /* NuttX has been started  OFF    */
+#define LED_HEAPALLOCATE  0  /* Heap has been allocated OFF    */
+#define LED_IRQSENABLED   0  /* Interrupts enabled      OFF    */
+#define LED_STACKCREATED  1  /* Idle stack created      ON     */
+#define LED_INIRQ         2  /* In an interrupt         N/C    */
+#define LED_SIGNAL        2  /* In a signal handler     N/C    */
+#define LED_ASSERTION     2  /* An assertion failed     N/C    */
+#define LED_PANIC         3  /* The system has crashed  FLASH  */
+#undef  LED_IDLE             /* Not used                       */
+
+/* Thus if the LED is statically on, NuttX has successfully  booted and is,
+ * apparently, running normally.  If the LED is flashing at approximately
+ * 2Hz, then a fatal error has been detected and the system has halted.
+ */
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: rp2040_boardearlyinitialize
+ *
+ * Description:
+ *
+ ****************************************************************************/
+
+void rp2040_boardearlyinitialize(void);
+
+/****************************************************************************
+ * Name: rp2040_boardinitialize
+ *
+ * Description:
+ *
+ ****************************************************************************/
+
+void rp2040_boardinitialize(void);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_ARM_WAVESHARE_RP2040_ZERO_INCLUDE_BOARD_H */
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/include/rp2040_i2cdev.h b/boards/arm/rp2040/waveshare-rp2040-zero/include/rp2040_i2cdev.h
new file mode 100644
index 0000000000000..4904e58bed522
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/include/rp2040_i2cdev.h
@@ -0,0 +1,72 @@
+/****************************************************************************
+ * boards/arm/rp2040/waveshare-rp2040-zero/include/rp2040_i2cdev.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM_WAVESHARE_RP2040_ZERO_INCLUDE_RP2040_I2CDEV_H
+#define __BOARDS_ARM_WAVESHARE_RP2040_ZERO_INCLUDE_RP2040_I2CDEV_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <stdint.h>
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_i2cdev_initialize
+ *
+ * Description:
+ *   Initialize i2c driver and register the /dev/i2c device.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_RP2040_I2C_DRIVER
+int board_i2cdev_initialize(int bus);
+#endif
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_ARM_WAVESHARE_RP2040_ZERO_INCLUDE_RP2040_I2CDEV_H */
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/include/rp2040_i2sdev.h b/boards/arm/rp2040/waveshare-rp2040-zero/include/rp2040_i2sdev.h
new file mode 100644
index 0000000000000..b54de778a82a3
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/include/rp2040_i2sdev.h
@@ -0,0 +1,72 @@
+/****************************************************************************
+ * boards/arm/rp2040/waveshare-rp2040-zero/include/rp2040_i2sdev.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM_WAVESHARE_RP2040_ZERO_INCLUDE_RP2040_I2SDEV_H
+#define __BOARDS_ARM_WAVESHARE_RP2040_ZERO_INCLUDE_RP2040_I2SDEV_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <stdint.h>
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_i2sdev_initialize
+ *
+ * Description:
+ *   Initialize i2s driver and register the /dev/audio/pcm0 device.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_RP2040_I2S
+int board_i2sdev_initialize(int bus);
+#endif
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_ARM_WAVESHARE_RP2040_ZERO_INCLUDE_RP2040_I2SDEV_H */
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/include/rp2040_spidev.h b/boards/arm/rp2040/waveshare-rp2040-zero/include/rp2040_spidev.h
new file mode 100644
index 0000000000000..67f3b306475fe
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/include/rp2040_spidev.h
@@ -0,0 +1,69 @@
+/****************************************************************************
+ * boards/arm/rp2040/waveshare-rp2040-zero/include/rp2040_spidev.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM_WAVESHARE_RP2040_ZERO_INCLUDE_RP2040_SPIDEV_H
+#define __BOARDS_ARM_WAVESHARE_RP2040_ZERO_INCLUDE_RP2040_SPIDEV_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_spidev_initialize
+ *
+ * Description:
+ *   Initialize spi driver and register the /dev/spi device.
+ *
+ ****************************************************************************/
+
+int board_spidev_initialize(int bus);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_ARM_WAVESHARE_RP2040_ZERO_INCLUDE_RP2040_SPIDEV_H */
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/include/rp2040_spisd.h b/boards/arm/rp2040/waveshare-rp2040-zero/include/rp2040_spisd.h
new file mode 100644
index 0000000000000..d384865e3afe0
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/include/rp2040_spisd.h
@@ -0,0 +1,83 @@
+/****************************************************************************
+ * boards/arm/rp2040/waveshare-rp2040-zero/include/rp2040_spisd.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM_WAVESHARE_RP2040_ZERO_INCLUDE_RP2040_SPISD_H
+#define __BOARDS_ARM_WAVESHARE_RP2040_ZERO_INCLUDE_RP2040_SPISD_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_spisd_initialize
+ *
+ * Description:
+ *   Initialize the SPI-based SD card.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_RP2040_SPISD
+int board_spisd_initialize(int minor, int bus);
+#endif
+
+/****************************************************************************
+ * Name: board_spisd_status
+ *
+ * Description:
+ *   Get the status whether SD Card is present or not.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_RP2040_SPISD
+uint8_t board_spisd_status(struct spi_dev_s *dev, uint32_t devid);
+#endif
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_ARM_WAVESHARE_RP2040_ZERO_INCLUDE_RP2040_SPISD_H */
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/scripts/Make.defs b/boards/arm/rp2040/waveshare-rp2040-zero/scripts/Make.defs
new file mode 100644
index 0000000000000..ae9c69a6ba270
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/scripts/Make.defs
@@ -0,0 +1,45 @@
+############################################################################
+# boards/arm/rp2040/waveshare-rp2040-zero/scripts/Make.defs
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(TOPDIR)/.config
+include $(TOPDIR)/tools/Config.mk
+include $(TOPDIR)/tools/rp2040/Config.mk
+include $(TOPDIR)/arch/arm/src/armv6-m/Toolchain.defs
+
+ifeq ($(CONFIG_RP2040_FLASH_BOOT),y)
+  LDSCRIPT = waveshare-rp2040-zero-flash.ld
+else
+  LDSCRIPT = waveshare-rp2040-zero-sram.ld
+endif
+
+ARCHSCRIPT += $(BOARD_DIR)$(DELIM)scripts$(DELIM)$(LDSCRIPT)
+
+ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
+
+CFLAGS := $(ARCHCFLAGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS) -pipe
+CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS := $(ARCHCXXFLAGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS) -pipe
+CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS := $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS)
+AFLAGS := $(CFLAGS) -D__ASSEMBLY__
+
+NXFLATLDFLAGS1 = -r -d -warn-common
+NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections
+LDNXFLATFLAGS = -e main -s 2048
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/scripts/waveshare-rp2040-zero-flash.ld b/boards/arm/rp2040/waveshare-rp2040-zero/scripts/waveshare-rp2040-zero-flash.ld
new file mode 100644
index 0000000000000..fa7db5205029b
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/scripts/waveshare-rp2040-zero-flash.ld
@@ -0,0 +1,119 @@
+/****************************************************************************
+ * boards/arm/rp2040/waveshare-rp2040-zero/scripts/waveshare-rp2040-zero-flash.ld
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+MEMORY
+{
+  flash (rx) : ORIGIN = 0x10000000, LENGTH = 2048K
+  sram (rwx) : ORIGIN = 0x20000000, LENGTH = 264K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+SECTIONS
+{
+    .flash_begin : {
+        __flash_binary_start = .;
+    } > flash
+
+    .boot2 : {
+        __boot2_start__ = .;
+        KEEP (*(.boot2))
+        __boot2_end__ = .;
+    } > flash
+
+    .text : {
+        _stext = ABSOLUTE(.);
+        *(.vectors)
+        *(.text .text.*)
+        *(.fixup)
+        *(.gnu.warning)
+        *(.rodata .rodata.*)
+        *(.gnu.linkonce.t.*)
+        *(.glue_7)
+        *(.glue_7t)
+        *(.got)
+        *(.gcc_except_table)
+        *(.gnu.linkonce.r.*)
+        _etext = ABSOLUTE(.);
+    } > flash
+
+    .init_section : {
+        _sinit = ABSOLUTE(.);
+        KEEP(*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
+        KEEP(*(.init_array .ctors))
+        _einit = ABSOLUTE(.);
+    } > flash
+
+    .ARM.extab : {
+        *(.ARM.extab*)
+    } > flash
+
+    __exidx_start = ABSOLUTE(.);
+    .ARM.exidx : {
+        *(.ARM.exidx*)
+    } > flash
+    __exidx_end = ABSOLUTE(.);
+
+    _eronly = ABSOLUTE(.);
+
+    .ram_vectors (COPY) : {
+        *(.ram_vectors)
+    } > sram
+
+    .data : {
+        _sdata = ABSOLUTE(.);
+        *(.data .data.*)
+        *(.gnu.linkonce.d.*)
+        *(.ram_code.*)
+        CONSTRUCTORS
+        . = ALIGN(4);
+        _edata = ABSOLUTE(.);
+    } > sram AT > flash
+
+    .flash_section : {
+        . = ALIGN(4*1024);
+        *(.flash.*)
+    } > flash
+
+    .bss : {
+        _sbss = ABSOLUTE(.);
+        *(.bss .bss.*)
+        *(.gnu.linkonce.b.*)
+        *(COMMON)
+        . = ALIGN(4);
+        _ebss = ABSOLUTE(.);
+    } > sram
+
+    /* Stabs debugging sections. */
+    .stab 0 : { *(.stab) }
+    .stabstr 0 : { *(.stabstr) }
+    .stab.excl 0 : { *(.stab.excl) }
+    .stab.exclstr 0 : { *(.stab.exclstr) }
+    .stab.index 0 : { *(.stab.index) }
+    .stab.indexstr 0 : { *(.stab.indexstr) }
+    .comment 0 : { *(.comment) }
+    .debug_abbrev 0 : { *(.debug_abbrev) }
+    .debug_info 0 : { *(.debug_info) }
+    .debug_line 0 : { *(.debug_line) }
+    .debug_pubnames 0 : { *(.debug_pubnames) }
+    .debug_aranges 0 : { *(.debug_aranges) }
+}
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/scripts/waveshare-rp2040-zero-sram.ld b/boards/arm/rp2040/waveshare-rp2040-zero/scripts/waveshare-rp2040-zero-sram.ld
new file mode 100644
index 0000000000000..28728d9247b53
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/scripts/waveshare-rp2040-zero-sram.ld
@@ -0,0 +1,105 @@
+/****************************************************************************
+ * boards/arm/rp2040/waveshare-rp2040-zero/scripts/waveshare-rp2040-zero-sram.ld
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+MEMORY
+{
+  flash (rx) : ORIGIN = 0x10000000, LENGTH = 2048K
+  sram (rwx) : ORIGIN = 0x20000000, LENGTH = 264K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+SECTIONS
+{
+    .text : {
+        _stext = ABSOLUTE(.);
+        rp2040_start.o(.text)
+        . = ALIGN(256);
+        *(.vectors)
+        *(.text .text.*)
+        *(.fixup)
+        *(.gnu.warning)
+        *(.rodata .rodata.*)
+        *(.gnu.linkonce.t.*)
+        *(.glue_7)
+        *(.glue_7t)
+        *(.got)
+        *(.gcc_except_table)
+        *(.gnu.linkonce.r.*)
+        _etext = ABSOLUTE(.);
+    } > sram
+
+    .init_section : {
+        _sinit = ABSOLUTE(.);
+        KEEP(*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
+        KEEP(*(.init_array .ctors))
+        _einit = ABSOLUTE(.);
+    } > sram
+
+    .ARM.extab : {
+        *(.ARM.extab*)
+    } > sram
+
+    __exidx_start = ABSOLUTE(.);
+    .ARM.exidx : {
+        *(.ARM.exidx*)
+    } > sram
+    __exidx_end = ABSOLUTE(.);
+
+    .data : {
+        _sdata = ABSOLUTE(.);
+        *(.data .data.*)
+        *(.gnu.linkonce.d.*)
+        *(.ram_code.*)
+        CONSTRUCTORS
+        . = ALIGN(4);
+        _edata = ABSOLUTE(.);
+    } > sram
+
+    .flash_section : {
+        . = ALIGN(4*1024);
+        *(.flash.*)
+    } > flash
+
+    .bss : {
+        _sbss = ABSOLUTE(.);
+        *(.bss .bss.*)
+        *(.gnu.linkonce.b.*)
+        *(COMMON)
+        . = ALIGN(4);
+        _ebss = ABSOLUTE(.);
+    } > sram
+
+    /* Stabs debugging sections. */
+    .stab 0 : { *(.stab) }
+    .stabstr 0 : { *(.stabstr) }
+    .stab.excl 0 : { *(.stab.excl) }
+    .stab.exclstr 0 : { *(.stab.exclstr) }
+    .stab.index 0 : { *(.stab.index) }
+    .stab.indexstr 0 : { *(.stab.indexstr) }
+    .comment 0 : { *(.comment) }
+    .debug_abbrev 0 : { *(.debug_abbrev) }
+    .debug_info 0 : { *(.debug_info) }
+    .debug_line 0 : { *(.debug_line) }
+    .debug_pubnames 0 : { *(.debug_pubnames) }
+    .debug_aranges 0 : { *(.debug_aranges) }
+}
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/src/Make.defs b/boards/arm/rp2040/waveshare-rp2040-zero/src/Make.defs
new file mode 100644
index 0000000000000..edb7516262df7
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/src/Make.defs
@@ -0,0 +1,33 @@
+############################################################################
+# boards/arm/rp2040/waveshare-rp2040-zero/src/Make.defs
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(TOPDIR)/Make.defs
+
+CSRCS = rp2040_boardinitialize.c
+CSRCS += rp2040_appinit.c
+CSRCS += rp2040_bringup.c
+
+ifeq ($(CONFIG_DEV_GPIO),y)
+CSRCS += rp2040_gpio.c
+endif
+
+DEPPATH += --dep-path board
+VPATH += :board
+CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)board
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_appinit.c b/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_appinit.c
new file mode 100644
index 0000000000000..6e89de01f1be1
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_appinit.c
@@ -0,0 +1,100 @@
+/****************************************************************************
+ * boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_appinit.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+
+#include <sys/types.h>
+
+#include "rp2040_pico.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initialization logic and the
+ *         matching application logic.  The value could be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+int board_app_initialize(uintptr_t arg)
+{
+#ifdef CONFIG_BOARD_LATE_INITIALIZE
+  /* Board initialization already performed by board_late_initialize() */
+
+  return OK;
+#else
+  /* Perform board-specific initialization */
+
+  return rp2040_bringup();
+#endif
+}
+
+/****************************************************************************
+ * Name: board_late_initialize
+ *
+ * Description:
+ *   If CONFIG_BOARD_LATE_INITIALIZE is selected, then an additional
+ *   initialization call will be performed in the boot-up sequence to a
+ *   function called board_late_initialize().  board_late_initialize() will
+ *   be called after up_initialize() and board_early_initialize() and just
+ *   before the initial application is started.  This additional
+ *   initialization phase may be used, for example, to initialize board-
+ *   specific device drivers for which board_early_initialize() is not
+ *   suitable.
+ *
+ *   Waiting for events, use of I2C, SPI, etc are permissible in the context
+ *   of board_late_initialize().  That is because board_late_initialize()
+ *   will run on a temporary, internal kernel thread.
+ *
+ ****************************************************************************/
+
+void board_late_initialize(void)
+{
+  rp2040_bringup();
+}
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_boardinitialize.c b/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_boardinitialize.c
new file mode 100644
index 0000000000000..2011eb593d602
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_boardinitialize.c
@@ -0,0 +1,81 @@
+/****************************************************************************
+ * boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_boardinitialize.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <debug.h>
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+#include "arm_internal.h"
+#include "rp2040_gpio.h"
+
+#ifdef CONFIG_ARCH_BOARD_COMMON
+#include "rp2040_common_initialize.h"
+#endif /* CONFIG_ARCH_BOARD_COMMON */
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: rp2040_boardearlyinitialize
+ *
+ * Description:
+ *
+ ****************************************************************************/
+
+void rp2040_boardearlyinitialize(void)
+{
+  #ifdef CONFIG_ARCH_BOARD_COMMON
+  rp2040_common_earlyinitialize();
+  #endif
+
+  /* --- Place any board specific early initialization here --- */
+}
+
+/****************************************************************************
+ * Name: rp2040_boardinitialize
+ *
+ * Description:
+ *
+ ****************************************************************************/
+
+void rp2040_boardinitialize(void)
+{
+  #ifdef CONFIG_ARCH_BOARD_COMMON
+  rp2040_common_initialize();
+  #endif
+
+  /* --- Place any board specific initialization here --- */
+}
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_bringup.c b/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_bringup.c
new file mode 100644
index 0000000000000..cbc7c0ba20820
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_bringup.c
@@ -0,0 +1,57 @@
+/****************************************************************************
+ * boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_bringup.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <debug.h>
+#include <stddef.h>
+
+#ifdef CONFIG_ARCH_BOARD_COMMON
+#include "rp2040_common_bringup.h"
+#endif /* CONFIG_ARCH_BOARD_COMMON */
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: rp2040_bringup
+ ****************************************************************************/
+
+int rp2040_bringup(void)
+{
+#ifdef CONFIG_ARCH_BOARD_COMMON
+
+  int ret = rp2040_common_bringup();
+  if (ret < 0)
+    {
+      return ret;
+    }
+
+#endif /* CONFIG_ARCH_BOARD_COMMON */
+
+  /* --- Place any board specific bringup code here --- */
+
+  return OK;
+}
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_gpio.c b/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_gpio.c
new file mode 100644
index 0000000000000..f4a7385b8dd52
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_gpio.c
@@ -0,0 +1,392 @@
+/****************************************************************************
+ * boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_gpio.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <syslog.h>
+#include <nuttx/irq.h>
+#include <arch/irq.h>
+#include <assert.h>
+#include <debug.h>
+
+#include <nuttx/ioexpander/gpio.h>
+
+#include <arch/board/board.h>
+
+#include "arm_internal.h"
+#include "chip.h"
+#include "rp2040_gpio.h"
+
+#if defined(CONFIG_DEV_GPIO) && !defined(CONFIG_GPIO_LOWER_HALF)
+
+/* Output pins. GPIO25 is onboard LED any other outputs could be used.
+ */
+
+#define GPIO_OUT1     25
+
+/* Input pins.
+ */
+
+#define GPIO_IN1      6
+
+/* Interrupt pins.
+ */
+
+#define GPIO_IRQPIN1  11
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct rp2040gpio_dev_s
+{
+  struct gpio_dev_s gpio;
+  uint8_t id;
+};
+
+struct rp2040gpint_dev_s
+{
+  struct rp2040gpio_dev_s rp2040gpio;
+  pin_interrupt_t callback;
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+#if BOARD_NGPIOOUT > 0
+static int gpout_read(struct gpio_dev_s *dev, bool *value);
+static int gpout_write(struct gpio_dev_s *dev, bool value);
+#endif
+
+#if BOARD_NGPIOIN > 0
+static int gpin_read(struct gpio_dev_s *dev, bool *value);
+#endif
+
+#if BOARD_NGPIOINT > 0
+static int gpint_read(struct gpio_dev_s *dev, bool *value);
+static int gpint_attach(struct gpio_dev_s *dev,
+                        pin_interrupt_t callback);
+static int gpint_enable(struct gpio_dev_s *dev, bool enable);
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+#if BOARD_NGPIOOUT > 0
+static const struct gpio_operations_s gpout_ops =
+{
+  .go_read   = gpout_read,
+  .go_write  = gpout_write,
+  .go_attach = NULL,
+  .go_enable = NULL,
+};
+
+/* This array maps the GPIO pins used as OUTPUT */
+
+static const uint32_t g_gpiooutputs[BOARD_NGPIOOUT] =
+{
+  GPIO_OUT1
+};
+
+static struct rp2040gpio_dev_s g_gpout[BOARD_NGPIOOUT];
+#endif
+
+#if BOARD_NGPIOIN > 0
+static const struct gpio_operations_s gpin_ops =
+{
+  .go_read   = gpin_read,
+  .go_write  = NULL,
+  .go_attach = NULL,
+  .go_enable = NULL,
+};
+
+/* This array maps the GPIO pins used as INTERRUPT INPUTS */
+
+static const uint32_t g_gpioinputs[BOARD_NGPIOIN] =
+{
+  GPIO_IN1
+};
+
+static struct rp2040gpio_dev_s g_gpin[BOARD_NGPIOIN];
+#endif
+
+#if BOARD_NGPIOINT > 0
+static const struct gpio_operations_s gpint_ops =
+{
+  .go_read   = gpint_read,
+  .go_write  = NULL,
+  .go_attach = gpint_attach,
+  .go_enable = gpint_enable,
+};
+
+/* This array maps the GPIO pins used as INTERRUPT INPUTS */
+
+static const uint32_t g_gpiointinputs[BOARD_NGPIOINT] =
+{
+  GPIO_IRQPIN1,
+};
+
+static struct rp2040gpint_dev_s g_gpint[BOARD_NGPIOINT];
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: gpout_read
+ ****************************************************************************/
+
+#if BOARD_NGPIOOUT > 0
+static int gpout_read(struct gpio_dev_s *dev, bool *value)
+{
+  struct rp2040gpio_dev_s *rp2040gpio =
+    (struct rp2040gpio_dev_s *)dev;
+
+  DEBUGASSERT(rp2040gpio != NULL && value != NULL);
+  DEBUGASSERT(rp2040gpio->id < BOARD_NGPIOOUT);
+  gpioinfo("Reading...\n");
+
+  *value = rp2040_gpio_get(g_gpiooutputs[rp2040gpio->id]);
+  return OK;
+}
+
+/****************************************************************************
+ * Name: gpout_write
+ ****************************************************************************/
+
+static int gpout_write(struct gpio_dev_s *dev, bool value)
+{
+  struct rp2040gpio_dev_s *rp2040gpio =
+    (struct rp2040gpio_dev_s *)dev;
+
+  DEBUGASSERT(rp2040gpio != NULL);
+  DEBUGASSERT(rp2040gpio->id < BOARD_NGPIOOUT);
+  gpioinfo("Writing %d\n", (int)value);
+
+  rp2040_gpio_put(g_gpiooutputs[rp2040gpio->id], value);
+  return OK;
+}
+#endif
+
+/****************************************************************************
+ * Name: gpin_read
+ ****************************************************************************/
+
+#if BOARD_NGPIOIN > 0
+static int gpin_read(struct gpio_dev_s *dev, bool *value)
+{
+  struct rp2040gpio_dev_s *rp2040gpio =
+    (struct rp2040gpio_dev_s *)dev;
+
+  DEBUGASSERT(rp2040gpio != NULL && value != NULL);
+  DEBUGASSERT(rp2040gpio->id < BOARD_NGPIOIN);
+  gpioinfo("Reading... pin %d\n", (int)g_gpioinputs[rp2040gpio->id]);
+
+  *value = rp2040_gpio_get(g_gpioinputs[rp2040gpio->id]);
+  return OK;
+}
+#endif
+
+/****************************************************************************
+ * Name: rp2040gpio_interrupt
+ ****************************************************************************/
+
+#if BOARD_NGPIOINT > 0
+static int rp2040gpio_interrupt(int irq, void *context, void *arg)
+{
+  struct rp2040gpint_dev_s *rp2040gpint =
+    (struct rp2040gpint_dev_s *)arg;
+
+  DEBUGASSERT(rp2040gpint != NULL && rp2040gpint->callback != NULL);
+  gpioinfo("Interrupt! callback=%p\n", rp2040gpint->callback);
+
+  rp2040gpint->callback(&rp2040gpint->rp2040gpio.gpio,
+                       rp2040gpint->rp2040gpio.id);
+  return OK;
+}
+
+/****************************************************************************
+ * Name: gpint_read
+ ****************************************************************************/
+
+static int gpint_read(struct gpio_dev_s *dev, bool *value)
+{
+  struct rp2040gpint_dev_s *rp2040gpint =
+    (struct rp2040gpint_dev_s *)dev;
+
+  DEBUGASSERT(rp2040gpint != NULL && value != NULL);
+  DEBUGASSERT(rp2040gpint->rp2040gpio.id < BOARD_NGPIOINT);
+  gpioinfo("Reading int pin...\n");
+
+  *value = rp2040_gpio_get(g_gpiointinputs[rp2040gpint->rp2040gpio.id]);
+  return OK;
+}
+
+/****************************************************************************
+ * Name: gpint_attach
+ ****************************************************************************/
+
+static int gpint_attach(struct gpio_dev_s *dev,
+                        pin_interrupt_t callback)
+{
+  struct rp2040gpint_dev_s *rp2040gpint =
+    (struct rp2040gpint_dev_s *)dev;
+  int irq = g_gpiointinputs[rp2040gpint->rp2040gpio.id];
+  int ret;
+
+  gpioinfo("Attaching the callback\n");
+
+  /* Make sure the interrupt is disabled */
+
+  rp2040_gpio_disable_irq(irq);
+  ret = rp2040_gpio_irq_attach(irq,
+                               RP2040_GPIO_INTR_EDGE_LOW,
+                               rp2040gpio_interrupt,
+                               &g_gpint[rp2040gpint->rp2040gpio.id]);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: gpint_attach() failed: %d\n", ret);
+      return ret;
+    }
+
+  gpioinfo("Attach %p\n", callback);
+  rp2040gpint->callback = callback;
+  return OK;
+}
+
+/****************************************************************************
+ * Name: gpint_enable
+ ****************************************************************************/
+
+static int gpint_enable(struct gpio_dev_s *dev, bool enable)
+{
+  struct rp2040gpint_dev_s *rp2040gpint =
+    (struct rp2040gpint_dev_s *)dev;
+  int irq = g_gpiointinputs[rp2040gpint->rp2040gpio.id];
+
+  if (enable)
+    {
+      if (rp2040gpint->callback != NULL)
+        {
+          gpioinfo("Enabling the interrupt\n");
+
+          /* Configure the interrupt for rising edge */
+
+          rp2040_gpio_enable_irq(irq);
+        }
+    }
+  else
+    {
+      gpioinfo("Disable the interrupt\n");
+      rp2040_gpio_disable_irq(irq);
+    }
+
+  return OK;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: rp2040_dev_gpio_init
+ ****************************************************************************/
+
+int rp2040_dev_gpio_init(void)
+{
+  int i;
+  int pincount = 0;
+
+#if BOARD_NGPIOOUT > 0
+  for (i = 0; i < BOARD_NGPIOOUT; i++)
+    {
+      /* Setup and register the GPIO pin */
+
+      g_gpout[i].gpio.gp_pintype = GPIO_OUTPUT_PIN;
+      g_gpout[i].gpio.gp_ops     = &gpout_ops;
+      g_gpout[i].id              = i;
+      gpio_pin_register(&g_gpout[i].gpio, g_gpiooutputs[i]);
+
+      /* Configure the pins that will be used as output */
+
+      rp2040_gpio_init(g_gpiooutputs[i]);
+      rp2040_gpio_setdir(g_gpiooutputs[i], true);
+      rp2040_gpio_put(g_gpiooutputs[i], false);
+
+      pincount++;
+    }
+#endif
+
+  pincount = 0;
+
+#if BOARD_NGPIOIN > 0
+  for (i = 0; i < BOARD_NGPIOIN; i++)
+    {
+      /* Setup and register the GPIO pin */
+
+      g_gpin[i].gpio.gp_pintype = GPIO_INPUT_PIN;
+      g_gpin[i].gpio.gp_ops     = &gpin_ops;
+      g_gpin[i].id              = i;
+      gpio_pin_register(&g_gpin[i].gpio, g_gpioinputs[i]);
+
+      /* Configure the pins that will be used as INPUT */
+
+      rp2040_gpio_init(g_gpioinputs[i]);
+
+      pincount++;
+    }
+#endif
+
+  pincount = 0;
+
+#if BOARD_NGPIOINT > 0
+  for (i = 0; i < BOARD_NGPIOINT; i++)
+    {
+      /* Setup and register the GPIO pin */
+
+      g_gpint[i].rp2040gpio.gpio.gp_pintype = GPIO_INTERRUPT_PIN;
+      g_gpint[i].rp2040gpio.gpio.gp_ops     = &gpint_ops;
+      g_gpint[i].rp2040gpio.id              = i;
+      gpio_pin_register(&g_gpint[i].rp2040gpio.gpio, g_gpiointinputs[i]);
+
+      /* Configure the pins that will be used as interrupt input */
+
+      rp2040_gpio_init(g_gpiointinputs[i]);
+
+      /* pull-up = false : pull-down = true */
+
+      rp2040_gpio_set_pulls(g_gpiointinputs[i], false, true);
+
+      pincount++;
+    }
+#endif
+
+  return OK;
+}
+#endif /* CONFIG_DEV_GPIO && !CONFIG_GPIO_LOWER_HALF */
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_pico.h b/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_pico.h
new file mode 100644
index 0000000000000..c1bc488742822
--- /dev/null
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_pico.h
@@ -0,0 +1,36 @@
+/****************************************************************************
+ * boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_pico.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM_WAVESHARE_RP2040_ZERO_SRC_RP2040_PICO_H
+#define __BOARDS_ARM_WAVESHARE_RP2040_ZERO_SRC_RP2040_PICO_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+int rp2040_bringup(void);
+
+#ifdef CONFIG_DEV_GPIO
+int rp2040_dev_gpio_init(void);
+#endif
+
+#endif /* __BOARDS_ARM_WAVESHARE_RP2040_ZERO_SRC_RP2040_PICO_H */