diff --git a/src/boards/include/boards/cytron_maker_pi_rp2040.h b/src/boards/include/boards/cytron_maker_pi_rp2040.h
new file mode 100644
index 000000000..72ed4be9d
--- /dev/null
+++ b/src/boards/include/boards/cytron_maker_pi_rp2040.h
@@ -0,0 +1,189 @@
+/*
+ * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+// -----------------------------------------------------
+// NOTE: THIS HEADER IS ALSO INCLUDED BY ASSEMBLER SO
+//       SHOULD ONLY CONSIST OF PREPROCESSOR DIRECTIVES
+// -----------------------------------------------------
+
+#ifndef _BOARDS_CYTRON_MAKER_PI_RP2040_H
+#define _BOARDS_CYTRON_MAKER_PI_RP2040_H
+
+// For board detection
+#define CYTRON_MAKER_PI_RP2040
+
+// --- BOARD SPECIFIC ---
+
+// Motor driver
+#ifndef MAKER_PI_RP2040_M1A_PIN
+#define MAKER_PI_RP2040_M1A_PIN 8
+#endif
+
+#ifndef MAKER_PI_RP2040_M1B_PIN
+#define MAKER_PI_RP2040_M1B_PIN 9
+#endif
+
+#ifndef MAKER_PI_RP2040_M2B_PIN
+#define MAKER_PI_RP2040_M2B_PIN 10
+#endif
+
+#ifndef MAKER_PI_RP2040_M2B_PIN
+#define MAKER_PI_RP2040_M2B_PIN 11
+#endif
+
+// Grove ports
+#ifndef MAKER_PI_RP2040_GROVE1A_PIN
+#define MAKER_PI_RP2040_GROVE1A_PIN 0
+#endif
+
+#ifndef MAKER_PI_RP2040_GROVE1B_PIN
+#define MAKER_PI_RP2040_GROVE1B_PIN 1
+#endif
+
+#ifndef MAKER_PI_RP2040_GROVE2A_PIN
+#define MAKER_PI_RP2040_GROVE2A_PIN 2
+#endif
+
+#ifndef MAKER_PI_RP2040_GROVE2B_PIN
+#define MAKER_PI_RP2040_GROVE2B_PIN 3
+#endif
+
+#ifndef MAKER_PI_RP2040_GROVE3A_PIN
+#define MAKER_PI_RP2040_GROVE3A_PIN 4
+#endif
+
+#ifndef MAKER_PI_RP2040_GROVE3B_PIN
+#define MAKER_PI_RP2040_GROVE3B_PIN 5
+#endif
+
+#ifndef MAKER_PI_RP2040_GROVE4A_PIN
+#define MAKER_PI_RP2040_GROVE4A_PIN 16
+#endif
+
+#ifndef MAKER_PI_RP2040_GROVE4B_PIN
+#define MAKER_PI_RP2040_GROVE4B_PIN 17
+#endif
+
+#ifndef MAKER_PI_RP2040_GROVE5A_PIN
+#define MAKER_PI_RP2040_GROVE5A_PIN 6
+#endif
+
+#ifndef MAKER_PI_RP2040_GROVE5B_PIN
+#define MAKER_PI_RP2040_GROVE5B_PIN 26
+#endif
+
+#ifndef MAKER_PI_RP2040_GROVE6A_PIN
+#define MAKER_PI_RP2040_GROVE6A_PIN 26
+#endif
+
+#ifndef MAKER_PI_RP2040_GROVE6B_PIN
+#define MAKER_PI_RP2040_GROVE6B_PIN 27
+#endif
+
+#ifndef MAKER_PI_RP2040_GROVE7A_PIN
+#define MAKER_PI_RP2040_GROVE7A_PIN 7
+#endif
+
+#ifndef MAKER_PI_RP2040_GROVE7B_PIN
+#define MAKER_PI_RP2040_GROVE7B_PIN 28
+#endif
+
+// Buttons
+#ifndef MAKER_PI_RP2040_BUTTON1_PIN
+#define MAKER_PI_RP2040_BUTTON1_PIN 20
+#endif
+
+#ifndef MAKER_PI_RP2040_BUTTON2_PIN
+#define MAKER_PI_RP2040_BUTTON2_PIN 21
+#endif
+
+// Servo headers
+#ifndef MAKER_PI_RP2040_SERVO1_PIN
+#define MAKER_PI_RP2040_SERVO1_PIN 12
+#endif
+
+#ifndef MAKER_PI_RP2040_SERVO2_PIN
+#define MAKER_PI_RP2040_SERVO2_PIN 13
+#endif
+
+#ifndef MAKER_PI_RP2040_SERVO3_PIN
+#define MAKER_PI_RP2040_SERVO3_PIN 14
+#endif
+
+#ifndef MAKER_PI_RP2040_SERVO4_PIN
+#define MAKER_PI_RP2040_SERVO4_PIN 15
+#endif
+
+// --- UART ---
+#ifndef PICO_DEFAULT_UART
+#define PICO_DEFAULT_UART 0
+#endif
+
+#ifndef PICO_DEFAULT_UART_TX_PIN
+#define PICO_DEFAULT_UART_TX_PIN 0
+#endif
+
+#ifndef PICO_DEFAULT_UART_RX_PIN
+#define PICO_DEFAULT_UART_RX_PIN 1
+#endif
+
+// --- LED ---
+#ifndef PICO_DEFAULT_WS2812_PIN
+#define PICO_DEFAULT_WS2812_PIN 18
+#endif
+
+// This board has two WS2812 leds in series
+#ifndef PICO_DEFAULT_WS2812_NUM_PIXELS
+#define PICO_DEFAULT_WS2812_NUM_PIXELS 2
+#endif
+
+// --- I2C ---
+#ifndef PICO_DEFAULT_I2C
+#define PICO_DEFAULT_I2C 1
+#endif
+
+#ifndef PICO_DEFAULT_I2C_SDA_PIN
+#define PICO_DEFAULT_I2C_SDA_PIN 6
+#endif
+
+#ifndef PICO_DEFAULT_I2C_SCL_PIN
+#define PICO_DEFAULT_I2C_SCL_PIN 7
+#endif
+
+// --- SPI ---
+#ifndef PICO_DEFAULT_SPI
+#define PICO_DEFAULT_SPI 0
+#endif
+
+#ifndef PICO_DEFAULT_SPI_TX_PIN
+#define PICO_DEFAULT_SPI_TX_PIN 3
+#endif
+
+#ifndef PICO_DEFAULT_SPI_RX_PIN
+#define PICO_DEFAULT_SPI_RX_PIN 4
+#endif
+
+#ifndef PICO_DEFAULT_SPI_SCK_PIN
+#define PICO_DEFAULT_SPI_SCK_PIN 2
+#endif
+
+// --- FLASH ---
+#define PICO_BOOT_STAGE2_CHOOSE_W25Q080 1
+
+#ifndef PICO_FLASH_SPI_CLKDIV
+#define PICO_FLASH_SPI_CLKDIV 2
+#endif
+
+#ifndef PICO_FLASH_SIZE_BYTES
+#define PICO_FLASH_SIZE_BYTES (2 * 1024 * 1024)
+#endif
+
+// All boards have B1 RP2040
+#ifndef PICO_RP2040_B0_SUPPORTED
+#define PICO_RP2040_B0_SUPPORTED 0
+#endif
+
+#endif
\ No newline at end of file