diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 3fd4210..5099091 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -18,5 +18,6 @@ jobs:
         name: udpih
         path: |
           arm_kernel/arm_kernel.bin.h
-          pico/build/udpih.uf2
+          pico/build_rp2040/udpih.uf2
+          pico/build_rp2350/udpih.uf2
         if-no-files-found: error
diff --git a/.gitignore b/.gitignore
index 17a758e..fb37cd8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,5 @@
 .vscode/
-build/
+build*/
 
 *.elf
 *.bin
@@ -14,3 +14,5 @@ build/
 *.mod
 *.mod.c
 *.order
+
+*.uf2
diff --git a/pico/CMakeLists.txt b/pico/CMakeLists.txt
index fed5992..cedd53f 100644
--- a/pico/CMakeLists.txt
+++ b/pico/CMakeLists.txt
@@ -3,8 +3,8 @@ cmake_minimum_required(VERSION 3.12)
 # Pull in SDK (must be before project)
 include(pico_sdk_import.cmake)
 
-if (PICO_SDK_VERSION_STRING VERSION_LESS "1.3.0")
-    message(FATAL_ERROR "Raspberry Pi Pico SDK version 1.3.0 (or later) required. Your version is ${PICO_SDK_VERSION_STRING}")
+if (PICO_SDK_VERSION_STRING VERSION_LESS "2.0.0")
+    message(FATAL_ERROR "Raspberry Pi Pico SDK version 2.0.0 (or later) required. Your version is ${PICO_SDK_VERSION_STRING}")
 endif()
 
 set(CMAKE_C_STANDARD 11)
@@ -45,4 +45,4 @@ pico_add_extra_outputs(udpih)
 pico_set_program_name(udpih "udpih")
 pico_set_program_description(udpih "Wii U USB Host Stack exploit")
 pico_set_program_url(udpih "https://github.com/GaryOderNichts/udpih")
-pico_set_program_version(udpih "0")
+pico_set_program_version(udpih "4")
diff --git a/pico/Makefile b/pico/Makefile
index 6ec1cd0..55caf46 100644
--- a/pico/Makefile
+++ b/pico/Makefile
@@ -1,15 +1,22 @@
-CMAKE_BUILD_DIR := build
 CMAKE_SOURCE_DIR := .
+CMAKE_BUILD_RP2040_DIR := build_rp2040
+CMAKE_BUILD_RP2350_DIR := build_rp2350
 
-.PHONY: all clean $(CMAKE_BUILD_DIR)/Makefile $(CMAKE_BUILD_DIR)/udpih.uf2
+.PHONY: all clean $(CMAKE_BUILD_RP2040_DIR)/Makefile $(CMAKE_BUILD_RP2040_DIR)/udpih.uf2 $(CMAKE_BUILD_RP2350_DIR)/Makefile $(CMAKE_BUILD_RP2350_DIR)/udpih.uf2
 
-all: $(CMAKE_BUILD_DIR)/udpih.uf2
+all: $(CMAKE_BUILD_RP2040_DIR)/udpih.uf2 $(CMAKE_BUILD_RP2350_DIR)/udpih.uf2
 
-$(CMAKE_BUILD_DIR)/Makefile: $(CMAKE_SOURCE_DIR)/CMakeLists.txt
-	cmake -S $(<D) -B $(@D)
+$(CMAKE_BUILD_RP2040_DIR)/Makefile: $(CMAKE_SOURCE_DIR)/CMakeLists.txt
+	cmake -S $(<D) -B $(@D) -DPICO_BOARD=pico
 
-$(CMAKE_BUILD_DIR)/udpih.uf2: $(CMAKE_BUILD_DIR)/Makefile
+$(CMAKE_BUILD_RP2040_DIR)/udpih.uf2: $(CMAKE_BUILD_RP2040_DIR)/Makefile
+	$(MAKE) -C $(@D)
+
+$(CMAKE_BUILD_RP2350_DIR)/Makefile: $(CMAKE_SOURCE_DIR)/CMakeLists.txt
+	cmake -S $(<D) -B $(@D) -DPICO_BOARD=pico2
+
+$(CMAKE_BUILD_RP2350_DIR)/udpih.uf2: $(CMAKE_BUILD_RP2350_DIR)/Makefile
 	$(MAKE) -C $(@D)
 
 clean:
-	rm -rf $(CMAKE_BUILD_DIR)
+	rm -rf $(CMAKE_BUILD_RP2040_DIR) $(CMAKE_BUILD_RP2350_DIR)
diff --git a/pico/pico_sdk_import.cmake b/pico/pico_sdk_import.cmake
index 28efe9e..a0721d0 100644
--- a/pico/pico_sdk_import.cmake
+++ b/pico/pico_sdk_import.cmake
@@ -18,9 +18,20 @@ if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_P
     message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
 endif ()
 
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG))
+    set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG})
+    message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')")
+endif ()
+
+if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG)
+  set(PICO_SDK_FETCH_FROM_GIT_TAG "master")
+  message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG")
+endif()
+
 set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
 set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
 set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
+set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK")
 
 if (NOT PICO_SDK_PATH)
     if (PICO_SDK_FETCH_FROM_GIT)
@@ -29,11 +40,22 @@ if (NOT PICO_SDK_PATH)
         if (PICO_SDK_FETCH_FROM_GIT_PATH)
             get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
         endif ()
-        FetchContent_Declare(
-                pico_sdk
-                GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
-                GIT_TAG master
-        )
+        # GIT_SUBMODULES_RECURSE was added in 3.17
+        if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
+            FetchContent_Declare(
+                    pico_sdk
+                    GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                    GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
+                    GIT_SUBMODULES_RECURSE FALSE
+            )
+        else ()
+            FetchContent_Declare(
+                    pico_sdk
+                    GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                    GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
+            )
+        endif ()
+
         if (NOT pico_sdk)
             message("Downloading Raspberry Pi Pico SDK")
             FetchContent_Populate(pico_sdk)
diff --git a/pico/usb.c b/pico/usb.c
index 7ad739b..3c89f4a 100644
--- a/pico/usb.c
+++ b/pico/usb.c
@@ -132,8 +132,7 @@ void usb_device_stall_endpoint(uint8_t ep_address)
  */
 void usb_device_init(void) {
     // Reset usb controller
-    reset_block(RESETS_RESET_USBCTRL_BITS);
-    unreset_block_wait(RESETS_RESET_USBCTRL_BITS);
+    reset_unreset_block_num_wait_blocking(RESET_USBCTRL);
 
     // Clear any previous state in dpram just in case
     memset(usb_dpram, 0, sizeof(*usb_dpram)); // <1>