diff --git a/MODULE.bazel b/MODULE.bazel
index 31d6105cc..111ed24cd 100644
--- a/MODULE.bazel
+++ b/MODULE.bazel
@@ -1,6 +1,6 @@
 module(
     name = "pico-sdk",
-    version = "2.2.0",
+    version = "2.2.1-develop",
 )
 
 bazel_dep(name = "platforms", version = "0.0.9")
diff --git a/pico_sdk_version.cmake b/pico_sdk_version.cmake
index 0a3525873..aca3c585e 100644
--- a/pico_sdk_version.cmake
+++ b/pico_sdk_version.cmake
@@ -7,10 +7,10 @@ if (NOT DEFINED PICO_SDK_VERSION_MAJOR)
     set(PICO_SDK_VERSION_MINOR 2)
     # PICO_BUILD_DEFINE: PICO_SDK_VERSION_REVISION, SDK version revision, type=int, default=Current SDK revision, group=pico_base
     # PICO_CMAKE_CONFIG: PICO_SDK_VERSION_REVISION, SDK version revision, type=int, default=Current SDK revision, group=pico_base
-    set(PICO_SDK_VERSION_REVISION 0)
+    set(PICO_SDK_VERSION_REVISION 1)
     # PICO_BUILD_DEFINE: PICO_SDK_VERSION_PRE_RELEASE_ID, Optional SDK pre-release version identifier, default=Current SDK pre-release identifier, type=string, group=pico_base
     # PICO_CMAKE_CONFIG: PICO_SDK_VERSION_PRE_RELEASE_ID, Optional SDK pre-release version identifier, default=Current SDK pre-release identifier, type=string, group=pico_base
-    #set(PICO_SDK_VERSION_PRE_RELEASE_ID develop)
+    set(PICO_SDK_VERSION_PRE_RELEASE_ID develop)
 endif()
 
 # PICO_BUILD_DEFINE: PICO_SDK_VERSION_STRING, SDK version string, type=string, default=Current SDK version string, group=pico_base
diff --git a/src/boards/include/boards/waveshare_pico_cam_a.h b/src/boards/include/boards/waveshare_pico_cam_a.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2040_ble.h b/src/boards/include/boards/waveshare_rp2040_ble.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2040_eth.h b/src/boards/include/boards/waveshare_rp2040_eth.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2040_geek.h b/src/boards/include/boards/waveshare_rp2040_geek.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2040_matrix.h b/src/boards/include/boards/waveshare_rp2040_matrix.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2040_pizero.h b/src/boards/include/boards/waveshare_rp2040_pizero.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2040_power_management_hat_b.h b/src/boards/include/boards/waveshare_rp2040_power_management_hat_b.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2040_tiny.h b/src/boards/include/boards/waveshare_rp2040_tiny.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2040_touch_lcd_1.28.h b/src/boards/include/boards/waveshare_rp2040_touch_lcd_1.28.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2350_eth.h b/src/boards/include/boards/waveshare_rp2350_eth.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2350_geek.h b/src/boards/include/boards/waveshare_rp2350_geek.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2350_lcd_0.96.h b/src/boards/include/boards/waveshare_rp2350_lcd_0.96.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2350_lcd_1.28.h b/src/boards/include/boards/waveshare_rp2350_lcd_1.28.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2350_one.h b/src/boards/include/boards/waveshare_rp2350_one.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2350_plus_16mb.h b/src/boards/include/boards/waveshare_rp2350_plus_16mb.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2350_plus_4mb.h b/src/boards/include/boards/waveshare_rp2350_plus_4mb.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2350_tiny.h b/src/boards/include/boards/waveshare_rp2350_tiny.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2350_touch_lcd_1.28.h b/src/boards/include/boards/waveshare_rp2350_touch_lcd_1.28.h
old mode 100755
new mode 100644
diff --git a/src/boards/include/boards/waveshare_rp2350_zero.h b/src/boards/include/boards/waveshare_rp2350_zero.h
old mode 100755
new mode 100644
diff --git a/src/rp2350/README.md b/src/rp2350/README.md
index 7a710171d..6dacfa85a 100644
--- a/src/rp2350/README.md
+++ b/src/rp2350/README.md
@@ -1,5 +1,5 @@
 This directory contains files specific to the RP2350 hardware. It is only used when building for RP2350 platforms, i.e. 
-`PICO_PLATFORM=rp2350-arm-s` or `PICO_PLATFORM=rp235-riscv`
+`PICO_PLATFORM=rp2350-arm-s`, `PICO_PLATFORM=rp2350-arm-ns` or `PICO_PLATFORM=rp2350-riscv`
 
 `hardware_regs` contains low level hardware register #defines autogenerated from the RP2350 chip definition itself.
 
diff --git a/src/rp2_common/hardware_dma/include/hardware/dma.h b/src/rp2_common/hardware_dma/include/hardware/dma.h
index 2ae64d5fa..316c55842 100644
--- a/src/rp2_common/hardware_dma/include/hardware/dma.h
+++ b/src/rp2_common/hardware_dma/include/hardware/dma.h
@@ -578,8 +578,8 @@ static inline uint32_t dma_encode_endless_transfer_count(void) {
 #if PICO_RP2040
     panic_unsupported();
 #else
-    static_assert(DMA_CH0_TRANS_COUNT_MODE_VALUE_ENDLESS == 0xf);
-    static_assert(DMA_CH0_TRANS_COUNT_MODE_LSB == 28);
+    static_assert(DMA_CH0_TRANS_COUNT_MODE_VALUE_ENDLESS == 0xf, "");
+    static_assert(DMA_CH0_TRANS_COUNT_MODE_LSB == 28, "");
     return 0xffffffffu;
 #endif
 }
diff --git a/src/rp2_common/hardware_gpio/gpio.c b/src/rp2_common/hardware_gpio/gpio.c
index 292041a19..a5560bbb8 100644
--- a/src/rp2_common/hardware_gpio/gpio.c
+++ b/src/rp2_common/hardware_gpio/gpio.c
@@ -196,9 +196,11 @@ void gpio_set_irq_enabled(uint gpio, uint32_t events, bool enabled) {
 }
 
 void gpio_set_irq_enabled_with_callback(uint gpio, uint32_t events, bool enabled, gpio_irq_callback_t callback) {
-    // first set callback, then enable the interrupt
-    gpio_set_irq_callback(callback);
+    // when enabling, first set callback, then enable the interrupt
+    // when disabling, first disable the interrupt, then clear callback
+    if (enabled) gpio_set_irq_callback(callback);
     gpio_set_irq_enabled(gpio, events, enabled);
+    if (!enabled) gpio_set_irq_callback(callback);
     if (enabled) irq_set_enabled(IO_IRQ_BANK0, true);
 }
 
diff --git a/src/rp2_common/hardware_hazard3/include/hardware/hazard3/instructions.h b/src/rp2_common/hardware_hazard3/include/hardware/hazard3/instructions.h
index 7abeb5ba6..f14b8c01c 100644
--- a/src/rp2_common/hardware_hazard3/include/hardware/hazard3/instructions.h
+++ b/src/rp2_common/hardware_hazard3/include/hardware/hazard3/instructions.h
@@ -128,7 +128,7 @@ extern "C" {
     __h3_bextmi_rd; \
 })
 #else
-#define __hazard3_bextm(nbits, rs1, rs2) (((rs1) >> ((shamt) & 0x1f)) & (0xffu >> (7 - (((nbits) - 1) & 0x7))))
+#define __hazard3_bextmi(nbits, rs1, rs2) (((rs1) >> ((shamt) & 0x1f)) & (0xffu >> (7 - (((nbits) - 1) & 0x7))))
 #endif
 
 #ifdef __hazard3_extension_xh3power
diff --git a/src/rp2_common/hardware_irq/irq.c b/src/rp2_common/hardware_irq/irq.c
index fc3d6f12c..fdcbb00fb 100644
--- a/src/rp2_common/hardware_irq/irq.c
+++ b/src/rp2_common/hardware_irq/irq.c
@@ -128,6 +128,15 @@ void irq_set_pending(uint num) {
 #endif
 }
 
+#if !PICO_NO_RAM_VECTOR_TABLE
+static void set_raw_irq_handler_and_unlock(uint num, irq_handler_t handler, uint32_t save) {
+    // update vtable (vtable_handler may be same or updated depending on cases, but we do it anyway for compactness)
+    get_vtable()[VTABLE_FIRST_IRQ + num] = handler;
+    __dmb();
+    spin_unlock(spin_lock_instance(PICO_SPINLOCK_ID_IRQ), save);
+}
+#endif
+
 #if !PICO_DISABLE_SHARED_IRQ_HANDLERS && !PICO_NO_RAM_VECTOR_TABLE
 // limited by 8 bit relative links (and reality)
 static_assert(PICO_MAX_SHARED_IRQ_HANDLERS >= 1 && PICO_MAX_SHARED_IRQ_HANDLERS < 0x7f, "");
@@ -202,13 +211,6 @@ bool irq_has_shared_handler(uint irq_num) {
     return is_shared_irq_raw_handler(handler);
 }
 
-static void set_raw_irq_handler_and_unlock(uint num, irq_handler_t handler, uint32_t save) {
-    // update vtable (vtable_handler may be same or updated depending on cases, but we do it anyway for compactness)
-    get_vtable()[VTABLE_FIRST_IRQ + num] = handler;
-    __dmb();
-    spin_unlock(spin_lock_instance(PICO_SPINLOCK_ID_IRQ), save);
-}
-
 #else // PICO_DISABLE_SHARED_IRQ_HANDLERS && PICO_NO_RAM_VECTOR_TABLE
 #define is_shared_irq_raw_handler(h) false
 bool irq_has_shared_handler(uint irq_num) {
diff --git a/src/rp2_common/hardware_pio/include/hardware/pio_instructions.h b/src/rp2_common/hardware_pio/include/hardware/pio_instructions.h
index e990a7284..85804f954 100644
--- a/src/rp2_common/hardware_pio/include/hardware/pio_instructions.h
+++ b/src/rp2_common/hardware_pio/include/hardware/pio_instructions.h
@@ -148,7 +148,7 @@ static inline uint pio_encode_sideset(uint sideset_bit_count, uint value) {
  * \return the side set bits to be ORed with an instruction encoding
  */
 static inline uint pio_encode_sideset_opt(uint sideset_bit_count, uint value) {
-    valid_params_if(PIO_INSTRUCTIONS, sideset_bit_count >= 0 && sideset_bit_count <= 4);
+    valid_params_if(PIO_INSTRUCTIONS, sideset_bit_count <= 4);
     valid_params_if(PIO_INSTRUCTIONS, value <= ((1u << sideset_bit_count) - 1));
     return 0x1000u | value << (12u - sideset_bit_count);
 }
diff --git a/src/rp2_common/pico_mbedtls/include/sha256_alt.h b/src/rp2_common/pico_mbedtls/include/sha256_alt.h
index b6658b2a7..78d9a9183 100644
--- a/src/rp2_common/pico_mbedtls/include/sha256_alt.h
+++ b/src/rp2_common/pico_mbedtls/include/sha256_alt.h
@@ -11,6 +11,6 @@
 #include "pico/sha256.h"
 
 typedef struct pico_sha256_state mbedtls_sha256_context;
-#endif // PICO_RP2350
+#endif // LIB_PICO_SHA256
 
 #endif
diff --git a/src/rp2_common/pico_status_led/CMakeLists.txt b/src/rp2_common/pico_status_led/CMakeLists.txt
index c14e607bf..cdc30bdf0 100644
--- a/src/rp2_common/pico_status_led/CMakeLists.txt
+++ b/src/rp2_common/pico_status_led/CMakeLists.txt
@@ -18,5 +18,3 @@ if (PICO_CYW43_SUPPORTED)
     )
 endif()
 pico_generate_pio_header(pico_status_led ${CMAKE_CURRENT_LIST_DIR}/ws2812.pio)
-
-get_target_property(OUT pico_status_led LINK_LIBRARIES)
diff --git a/src/rp2_common/pico_status_led/include/pico/status_led.h b/src/rp2_common/pico_status_led/include/pico/status_led.h
index be7c0bd49..4870bc9b6 100644
--- a/src/rp2_common/pico_status_led/include/pico/status_led.h
+++ b/src/rp2_common/pico_status_led/include/pico/status_led.h
@@ -109,7 +109,7 @@ bool status_led_init(void);
  *
  * \param context An \ref async_context used to communicate with the status LED (e.g. on Pico W or Pico 2 W)
  * \return Returns true if the LED was initialized successfully, otherwise false on failure
- * \sa status_led_init_with_context
+ * \sa status_led_init
  */
 bool status_led_init_with_context(struct async_context *context);