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/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_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_sync_spin_lock/include/hardware/sync/spin_lock.h b/src/rp2_common/hardware_sync_spin_lock/include/hardware/sync/spin_lock.h
index 2be493d6f..83ba1e6d8 100644
--- a/src/rp2_common/hardware_sync_spin_lock/include/hardware/sync/spin_lock.h
+++ b/src/rp2_common/hardware_sync_spin_lock/include/hardware/sync/spin_lock.h
@@ -10,7 +10,7 @@
 #include "pico.h"
 #include "hardware/sync.h"
 
-// PICO_CONFIG: PICO_USE_SW_SPIN_LOCKS, Use software implementation for spin locks, type=bool, default=1 on RP2350 due to errata, group=hardware_sync
+// PICO_CONFIG: PICO_USE_SW_SPIN_LOCKS, Use software implementation for spin locks, type=bool, default=1 on RP2350 due to errata E2, group=hardware_sync
 #ifndef PICO_USE_SW_SPIN_LOCKS
 #if PICO_RP2350
 #define PICO_USE_SW_SPIN_LOCKS 1
@@ -19,53 +19,93 @@
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_IRQ, Spinlock ID for IRQ protection, min=0, max=31, default=9, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_IRQ
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_IRQ 5
+#else
 #define PICO_SPINLOCK_ID_IRQ 9
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_TIMER, Spinlock ID for Timer protection, min=0, max=31, default=10, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_TIMER
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_TIMER 6
+#else
 #define PICO_SPINLOCK_ID_TIMER 10
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_HARDWARE_CLAIM, Spinlock ID for Hardware claim protection, min=0, max=31, default=11, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_HARDWARE_CLAIM
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_HARDWARE_CLAIM 7
+#else
 #define PICO_SPINLOCK_ID_HARDWARE_CLAIM 11
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_RAND, Spinlock ID for Random Number Generator, min=0, max=31, default=12, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_RAND
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_RAND 10
+#else
 #define PICO_SPINLOCK_ID_RAND 12
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_ATOMIC, Spinlock ID for atomics, min=0, max=31, default=13, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_ATOMIC
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_ATOMIC 11
+#else
 #define PICO_SPINLOCK_ID_ATOMIC 13
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_OS1, First Spinlock ID reserved for use by low level OS style software, min=0, max=31, default=14, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_OS1
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_OS1 18
+#else
 #define PICO_SPINLOCK_ID_OS1 14
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_OS2, Second Spinlock ID reserved for use by low level OS style software, min=0, max=31, default=15, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_OS2
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_OS2 19
+#else
 #define PICO_SPINLOCK_ID_OS2 15
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_STRIPED_FIRST, Lowest Spinlock ID in the 'striped' range, min=0, max=31, default=16, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_STRIPED_FIRST
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_STRIPED_FIRST 20
+#else
 #define PICO_SPINLOCK_ID_STRIPED_FIRST 16
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_STRIPED_LAST, Highest Spinlock ID in the 'striped' range, min=0, max=31, default=23, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_STRIPED_LAST
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_STRIPED_LAST 25
+#else
 #define PICO_SPINLOCK_ID_STRIPED_LAST 23
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_CLAIM_FREE_FIRST, Lowest Spinlock ID in the 'claim free' range, min=0, max=31, default=24, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_CLAIM_FREE_FIRST
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_CLAIM_FREE_FIRST 26
+#else
 #define PICO_SPINLOCK_ID_CLAIM_FREE_FIRST 24
 #endif
+#endif
 
 #ifdef PICO_SPINLOCK_ID_CLAIM_FREE_END
 #warning PICO_SPINLOCK_ID_CLAIM_FREE_END has been renamed to PICO_SPINLOCK_ID_CLAIM_FREE_LAST
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);