diff --git a/tools/rp2040/.gitignore b/tools/rp2040/.gitignore
new file mode 100644
index 0000000000..928007a74f
--- /dev/null
+++ b/tools/rp2040/.gitignore
@@ -0,0 +1 @@
+/elf2uf2
diff --git a/tools/rp2040/Config.mk b/tools/rp2040/Config.mk
new file mode 100644
index 0000000000..a950b405b6
--- /dev/null
+++ b/tools/rp2040/Config.mk
@@ -0,0 +1,37 @@
+############################################################################
+# tools/rp2040/Config.mk
+#
+# 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.
+#
+############################################################################
+
+# These are the macros that will be used in the NuttX make system to compile
+# and assembly source files and to insert the resulting object files into an
+# archive.  These replace the default definitions at tools/Config.mk
+
+# POSTBUILD -- Perform post build operations
+
+ifeq ($(CONFIG_RP2040_UF2_BINARY),y)
+
+define POSTBUILD
+	$(Q)echo "Generating: nuttx.uf2"; \
+
+	+$(Q) $(MAKE) -C $(TOPDIR)$(DELIM)tools$(DELIM)rp2040 -f Makefile.host
+	tools$(DELIM)rp2040$(DELIM)elf2uf2$(HOSTEXEEXT) nuttx nuttx.uf2;
+	$(Q)([ $$? -eq 0 ] && echo nuttx.uf2 >> nuttx.manifest && echo "Done.")
+endef
+
+endif
diff --git a/tools/rp2040/Makefile.host b/tools/rp2040/Makefile.host
new file mode 100644
index 0000000000..259102cb22
--- /dev/null
+++ b/tools/rp2040/Makefile.host
@@ -0,0 +1,35 @@
+############################################################################
+# tools/rp2040/Makefile.host
+#
+# 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.
+#
+############################################################################
+
+all: elf2uf2
+default: elf2uf2
+.PHONY: clean
+
+# Add CFLAGS=-g on the make command line to build debug versions
+
+CFLAGS = -O2
+CFLAGS += -I$(PICO_SDK_PATH)/src/common/boot_uf2/include
+
+elf2uf2: $(PICO_SDK_PATH)/tools/elf2uf2/main.cpp
+	@g++ $(CFLAGS) -o $@ $<
+
+clean:
+	@rm -f *.o *.a *.dSYM *~ .*.swp
+	@rm -f elf2uf2 elf2uf2.exe