diff --git a/arch/arm/src/rp2040/.gitignore b/arch/arm/src/rp2040/.gitignore
new file mode 100644
index 0000000000..ce98633950
--- /dev/null
+++ b/arch/arm/src/rp2040/.gitignore
@@ -0,0 +1 @@
+rp2040_boot_stage2.S
diff --git a/boards/arm/rp2040/adafruit-feather-rp2040/src/rp2040_pico.h b/boards/arm/rp2040/adafruit-feather-rp2040/src/rp2040_pico.h
index 5f912b8829..c13db1fc00 100644
--- a/boards/arm/rp2040/adafruit-feather-rp2040/src/rp2040_pico.h
+++ b/boards/arm/rp2040/adafruit-feather-rp2040/src/rp2040_pico.h
@@ -31,7 +31,7 @@
 
 int rp2040_bringup(void);
 
-#ifdef CONFIG_DEV_GPIO
+#if defined(CONFIG_DEV_GPIO) && !defined(CONFIG_ARCH_BOARD_COMMON)
 int rp2040_dev_gpio_init(void);
 #endif
 
diff --git a/boards/arm/rp2040/adafruit-kb2040/src/rp2040_pico.h b/boards/arm/rp2040/adafruit-kb2040/src/rp2040_pico.h
index 149e15f650..b3de5657d9 100644
--- a/boards/arm/rp2040/adafruit-kb2040/src/rp2040_pico.h
+++ b/boards/arm/rp2040/adafruit-kb2040/src/rp2040_pico.h
@@ -31,7 +31,7 @@
 
 int rp2040_bringup(void);
 
-#ifdef CONFIG_DEV_GPIO
+#if defined(CONFIG_DEV_GPIO) && !defined(CONFIG_ARCH_BOARD_COMMON)
 int rp2040_dev_gpio_init(void);
 #endif
 
diff --git a/boards/arm/rp2040/adafruit-qt-py-rp2040/src/rp2040_pico.h b/boards/arm/rp2040/adafruit-qt-py-rp2040/src/rp2040_pico.h
index 6d41af2115..1f62fbfef5 100644
--- a/boards/arm/rp2040/adafruit-qt-py-rp2040/src/rp2040_pico.h
+++ b/boards/arm/rp2040/adafruit-qt-py-rp2040/src/rp2040_pico.h
@@ -31,7 +31,7 @@
 
 int rp2040_bringup(void);
 
-#ifdef CONFIG_DEV_GPIO
+#if defined(CONFIG_DEV_GPIO) && !defined(CONFIG_ARCH_BOARD_COMMON)
 int rp2040_dev_gpio_init(void);
 #endif
 
diff --git a/boards/arm/rp2040/common/include/rp2040_common_pico.h b/boards/arm/rp2040/common/include/rp2040_common_pico.h
new file mode 100644
index 0000000000..0b22a380d0
--- /dev/null
+++ b/boards/arm/rp2040/common/include/rp2040_common_pico.h
@@ -0,0 +1,72 @@
+/****************************************************************************
+ * boards/arm/rp2040/common/include/rp2040_common_pico.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * 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_RP2040_COMMON_INCLUDE_RP2040_COMMON_PICO_H
+#define __BOARDS_ARM_RP2040_COMMON_INCLUDE_RP2040_COMMON_PICO_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Inline Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: rp2040_dev_gpio_init
+ ****************************************************************************/
+
+#ifdef CONFIG_DEV_GPIO
+int rp2040_dev_gpio_init(void);
+#endif
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __BOARDS_ARM_RP2040_COMMON_INCLUDE_RP2040_COMMON_PICO_H */
diff --git a/boards/arm/rp2040/common/src/rp2040_common_bringup.c b/boards/arm/rp2040/common/src/rp2040_common_bringup.c
index 5393c8ace6..2275fe92c7 100644
--- a/boards/arm/rp2040/common/src/rp2040_common_bringup.c
+++ b/boards/arm/rp2040/common/src/rp2040_common_bringup.c
@@ -36,7 +36,7 @@
 
 #include <arch/board/board.h>
 
-#include "rp2040_pico.h"
+#include "rp2040_common_pico.h"
 #include "rp2040_common_bringup.h"
 
 #ifdef CONFIG_LCD_BACKPACK
diff --git a/boards/arm/rp2040/pimoroni-tiny2040/src/rp2040_pico.h b/boards/arm/rp2040/pimoroni-tiny2040/src/rp2040_pico.h
index 68a9c11f23..b640b5f13c 100644
--- a/boards/arm/rp2040/pimoroni-tiny2040/src/rp2040_pico.h
+++ b/boards/arm/rp2040/pimoroni-tiny2040/src/rp2040_pico.h
@@ -31,7 +31,7 @@
 
 int rp2040_bringup(void);
 
-#ifdef CONFIG_DEV_GPIO
+#if defined(CONFIG_DEV_GPIO) && !defined(CONFIG_ARCH_BOARD_COMMON)
 int rp2040_dev_gpio_init(void);
 #endif
 
diff --git a/boards/arm/rp2040/raspberrypi-pico-w/src/rp2040_pico.h b/boards/arm/rp2040/raspberrypi-pico-w/src/rp2040_pico.h
index 15909ddf2a..11b5fd705d 100644
--- a/boards/arm/rp2040/raspberrypi-pico-w/src/rp2040_pico.h
+++ b/boards/arm/rp2040/raspberrypi-pico-w/src/rp2040_pico.h
@@ -31,7 +31,7 @@
 
 int rp2040_bringup(void);
 
-#ifdef CONFIG_DEV_GPIO
+#if defined(CONFIG_DEV_GPIO) && !defined(CONFIG_ARCH_BOARD_COMMON)
 int rp2040_dev_gpio_init(void);
 #endif
 
diff --git a/boards/arm/rp2040/raspberrypi-pico/src/rp2040_pico.h b/boards/arm/rp2040/raspberrypi-pico/src/rp2040_pico.h
index 148497f6b9..9d4be7edc3 100644
--- a/boards/arm/rp2040/raspberrypi-pico/src/rp2040_pico.h
+++ b/boards/arm/rp2040/raspberrypi-pico/src/rp2040_pico.h
@@ -48,7 +48,7 @@
 
 int rp2040_bringup(void);
 
-#ifdef CONFIG_DEV_GPIO
+#if defined(CONFIG_DEV_GPIO) && !defined(CONFIG_ARCH_BOARD_COMMON)
 int rp2040_dev_gpio_init(void);
 #endif
 
diff --git a/boards/arm/rp2040/seeed-xiao-rp2040/src/rp2040_pico.h b/boards/arm/rp2040/seeed-xiao-rp2040/src/rp2040_pico.h
index aa8bc120fd..2605a67e47 100644
--- a/boards/arm/rp2040/seeed-xiao-rp2040/src/rp2040_pico.h
+++ b/boards/arm/rp2040/seeed-xiao-rp2040/src/rp2040_pico.h
@@ -37,7 +37,7 @@
 
 int rp2040_bringup(void);
 
-#ifdef CONFIG_DEV_GPIO
+#if defined(CONFIG_DEV_GPIO) && !defined(CONFIG_ARCH_BOARD_COMMON)
 int rp2040_dev_gpio_init(void);
 #endif
 
diff --git a/boards/arm/rp2040/w5500-evb-pico/src/rp2040_pico.h b/boards/arm/rp2040/w5500-evb-pico/src/rp2040_pico.h
index 98ad3e2dd8..bb3feb790e 100644
--- a/boards/arm/rp2040/w5500-evb-pico/src/rp2040_pico.h
+++ b/boards/arm/rp2040/w5500-evb-pico/src/rp2040_pico.h
@@ -48,7 +48,7 @@
 
 int rp2040_bringup(void);
 
-#ifdef CONFIG_DEV_GPIO
+#if defined(CONFIG_DEV_GPIO) && !defined(CONFIG_ARCH_BOARD_COMMON)
 int rp2040_dev_gpio_init(void);
 #endif
 
diff --git a/boards/arm/rp2040/waveshare-rp2040-lcd-1.28/src/rp2040_pico.h b/boards/arm/rp2040/waveshare-rp2040-lcd-1.28/src/rp2040_pico.h
index 623b8df362..7e4e5c1825 100644
--- a/boards/arm/rp2040/waveshare-rp2040-lcd-1.28/src/rp2040_pico.h
+++ b/boards/arm/rp2040/waveshare-rp2040-lcd-1.28/src/rp2040_pico.h
@@ -31,7 +31,7 @@
 
 int rp2040_bringup(void);
 
-#ifdef CONFIG_DEV_GPIO
+#if defined(CONFIG_DEV_GPIO) && !defined(CONFIG_ARCH_BOARD_COMMON)
 int rp2040_dev_gpio_init(void);
 #endif
 
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_pico.h b/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_pico.h
index c1bc488742..b69e6658dd 100644
--- a/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_pico.h
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/src/rp2040_pico.h
@@ -29,7 +29,7 @@
 
 int rp2040_bringup(void);
 
-#ifdef CONFIG_DEV_GPIO
+#if defined(CONFIG_DEV_GPIO) && !defined(CONFIG_ARCH_BOARD_COMMON)
 int rp2040_dev_gpio_init(void);
 #endif