diff --git a/BoardSupport.md b/BoardSupport.md
new file mode 100644
index 0000000..c5a7f57
--- /dev/null
+++ b/BoardSupport.md
@@ -0,0 +1,77 @@
+# Notes on Specific Boards
+
+## RP2040 / Raspberry Pi Pico
+
+First of all add support for RP2040 boards in the Arduino IDE by going to Boards Manager within the Tools menu.
+Enter "RP2040" in the search box, select "Arduino Mbed OS RP2040 Boards" and install the latest version (2.3.1 at the time of writing).
+
+ConfigurableFirmata v2.10.1 requires a minor modification to the `Boards.h` file in the `src/utility` folder for the Pico to work with the Firmata libraries.
+On macOS by default this file can be found here: `~/Documents/Arduino/libraries/ConfigurableFirmata/src/utility/Boards.h`.
+
+Add the following prior to the `#else` instruction towards the end of this file to enable support for the Raspberry Pi Pico:
+
+```
+// Raspberry Pi Pico
+// https://datasheets.raspberrypi.org/pico/Pico-R3-A4-Pinout.pdf
+#elif defined(TARGET_RP2040) || defined(TARGET_RASPBERRY_PI_PICO)
+
+#include <stdarg.h>
+
+static inline void attachInterrupt(pin_size_t interruptNumber, voidFuncPtr callback, int mode)
+{
+   attachInterrupt(interruptNumber, callback, (PinStatus) mode);
+}
+
+#define TOTAL_ANALOG_PINS       4
+#define TOTAL_PINS              30
+#define VERSION_BLINK_PIN       LED_BUILTIN
+#define IS_PIN_DIGITAL(p)       (((p) >= 0 && (p) < 23) || (p) == LED_BUILTIN)
+#define IS_PIN_ANALOG(p)        ((p) >= 26 && (p) < 26 + TOTAL_ANALOG_PINS)
+#define IS_PIN_PWM(p)           digitalPinHasPWM(p)
+#define IS_PIN_SERVO(p)         (IS_PIN_DIGITAL(p) && (p) != LED_BUILTIN)
+// From the data sheet I2C-0 defaults to GP 4 (SDA) & 5 (SCL) (physical pins 6 & 7)
+// However, v2.3.1 of mbed_rp2040 defines WIRE_HOWMANY to 1 and uses the non-default GPs 6 & 7:
+//#define WIRE_HOWMANY  (1)
+//#define PIN_WIRE_SDA            (6u)
+//#define PIN_WIRE_SCL            (7u)
+#define IS_PIN_I2C(p)           ((p) == PIN_WIRE_SDA || (p) == PIN_WIRE_SCL)
+// SPI-0 defaults to GP 16 (RX / MISO), 17 (CSn), 18 (SCK) & 19 (TX / MOSI) (physical pins 21, 22, 24, 25)
+#define IS_PIN_SPI(p)           ((p) == PIN_SPI_SCK || (p) == PIN_SPI_MOSI || (p) == PIN_SPI_MISO || (p) == PIN_SPI_SS)
+// UART-0 defaults to GP 0 (TX) & 1 (RX)
+#define IS_PIN_SERIAL(p)        ((p) == 0 || (p) == 1 || (p) == 4 || (p) == 5 || (p) == 8 || (p) == 9 || (p) == 12 || (p) == 13 || (p) == 16 || (p) == 17)
+#define PIN_TO_DIGITAL(p)       (p)
+#define PIN_TO_ANALOG(p)        ((p) - 26)
+#define PIN_TO_PWM(p)           (p)
+#define PIN_TO_SERVO(p)         (p)
+```
+
+### I2C
+
+The Raspberry Pi Pico [datasheet](https://datasheets.raspberrypi.org/pico/Pico-R3-A4-Pinout.pdf) states that the
+default GPIOs for I2C-0 are GP 4 (SDA-0) and GP 5 (SCL-0) (physical pins 6 & 7 respectively).
+However, v2.3.1 of the Mbed OS RP2040 library defines the default Firmata `Wire` implementation to use
+I2C-1 on GP 6 (SDA-1) and GP 7 (SCL-1) (physical pins 9 and 10).
+
+The pins that are used for I2C communication can be changed by editing the `variants/RASPBERRY_PI_PICO/pins_arduino.h` file.
+When using v2.3.1 on macOS, this file can found in the `~/Library/Arduino15/packages/arduino/hardware/mbed_rp2040/2.3.1/variants/RASPBERRY_PI_PICO` folder.
+Simply update the `PIN_WIRE_SDA` and `PIN_WIRE_SCL` values, for example to use the default I2C-0 pins:
+
+```
+#define PIN_WIRE_SDA  (4u)
+#define PIN_WIRE_SCL  (5u
+```
+
+Note that while the Pico supports two I2C buses, Firmata currently only supports interfacing with one I2C bus.
+Support for two I2C buses can be enabled within the RP2040 toolchain by setting `WIRE_HOWMANY` to `(2)`, and defining `PIN_WIRE_SDA1`, `PIN_WIRE_SCL1`, `I2C_SDA1` and `I2C_SCL1`:
+
+```
+#define WIRE_HOWMANY  (2)
+#define PIN_WIRE_SDA  (4u)
+#define PIN_WIRE_SCL  (5u)
+#define PIN_WIRE_SDA1 (6u)
+#define PIN_WIRE_SCL1 (7u)
+#define I2C_SDA       (digitalPinToPinName(PIN_WIRE_SDA))
+#define I2C_SCL       (digitalPinToPinName(PIN_WIRE_SCL))
+#define I2C_SDA1      (digitalPinToPinName(PIN_WIRE_SDA1))
+#define I2C_SCL1      (digitalPinToPinName(PIN_WIRE_SCL1))
+```
diff --git a/src/utility/Boards.h b/src/utility/Boards.h
index 7a38776..3605b1d 100644
--- a/src/utility/Boards.h
+++ b/src/utility/Boards.h
@@ -729,6 +729,39 @@ void analogWrite(uint8_t channel, uint32_t value, uint32_t valueMax = 255);
 #define PIN_TO_PWM(p)           (p)
 #define PIN_TO_SERVO(p)         (p)
 
+// Raspberry Pi Pico
+// https://datasheets.raspberrypi.org/pico/Pico-R3-A4-Pinout.pdf
+#elif defined(TARGET_RP2040) || defined(TARGET_RASPBERRY_PI_PICO)
+
+#include <stdarg.h>
+
+static inline void attachInterrupt(pin_size_t interruptNumber, voidFuncPtr callback, int mode)
+{
+  attachInterrupt(interruptNumber, callback, (PinStatus) mode);
+}
+
+#define TOTAL_ANALOG_PINS       4
+#define TOTAL_PINS              30
+#define VERSION_BLINK_PIN       LED_BUILTIN
+#define IS_PIN_DIGITAL(p)       (((p) >= 0 && (p) < 23) || (p) == LED_BUILTIN)
+#define IS_PIN_ANALOG(p)        ((p) >= 26 && (p) < 26 + TOTAL_ANALOG_PINS)
+#define IS_PIN_PWM(p)           digitalPinHasPWM(p)
+#define IS_PIN_SERVO(p)         (IS_PIN_DIGITAL(p) && (p) != LED_BUILTIN)
+// From the data sheet I2C-0 defaults to GP 4 (SDA) & 5 (SCL) (physical pins 6 & 7)
+// However, v2.3.1 of mbed_rp2040 defines WIRE_HOWMANY to 1 and uses the non-default GPs 6 & 7:
+//#define WIRE_HOWMANY	(1)
+//#define PIN_WIRE_SDA            (6u)
+//#define PIN_WIRE_SCL            (7u)
+#define IS_PIN_I2C(p)           ((p) == PIN_WIRE_SDA || (p) == PIN_WIRE_SCL)
+// SPI-0 defaults to GP 16 (RX / MISO), 17 (CSn), 18 (SCK) & 19 (TX / MOSI) (physical pins 21, 22, 24, 25)
+#define IS_PIN_SPI(p)           ((p) == PIN_SPI_SCK || (p) == PIN_SPI_MOSI || (p) == PIN_SPI_MISO || (p) == PIN_SPI_SS)
+// UART-0 defaults to GP 0 (TX) & 1 (RX)
+#define IS_PIN_SERIAL(p)        ((p) == 0 || (p) == 1 || (p) == 4 || (p) == 5 || (p) == 8 || (p) == 9 || (p) == 12 || (p) == 13 || (p) == 16 || (p) == 17)
+#define PIN_TO_DIGITAL(p)       (p)
+#define PIN_TO_ANALOG(p)        ((p) - 26)
+#define PIN_TO_PWM(p)           (p)
+#define PIN_TO_SERVO(p)         (p)
+
 
 // anything else
 #else