diff --git a/dts/bindings/clock/raspberrypi,pico-xosc.yaml b/dts/bindings/clock/raspberrypi,pico-xosc.yaml
index 924db759ae854..4e2a861175ef8 100644
--- a/dts/bindings/clock/raspberrypi,pico-xosc.yaml
+++ b/dts/bindings/clock/raspberrypi,pico-xosc.yaml
@@ -11,6 +11,7 @@ include: raspberrypi,pico-clock.yaml
 properties:
   startup-delay-multiplier:
     type: int
-    default: 1
+    default: 6
     description: |
-      Startup delay multiplier. The default value matches the Pico SDK.
+      Startup delay multiplier. The default value matches the Pico SDK used
+      as the basis for hal_rpi_pico (currently v2.1.1).
diff --git a/modules/hal_rpi_pico/CMakeLists.txt b/modules/hal_rpi_pico/CMakeLists.txt
index 046660a929a3d..8eed936e8e651 100644
--- a/modules/hal_rpi_pico/CMakeLists.txt
+++ b/modules/hal_rpi_pico/CMakeLists.txt
@@ -68,31 +68,33 @@ if(CONFIG_HAS_RPI_PICO)
   )
 
   zephyr_include_directories(
+    ${CMAKE_CURRENT_LIST_DIR}
+    ${common_dir}/boot_picobin_headers/include
+    ${common_dir}/boot_picoboot_headers/include
     ${common_dir}/pico_base_headers/include
     ${rp2_common_dir}/boot_bootrom_headers/include
     ${rp2_common_dir}/hardware_base/include
+    ${rp2_common_dir}/hardware_boot_lock/include
     ${rp2_common_dir}/hardware_clocks/include
-    ${rp2_common_dir}/hardware_watchdog/include
-    ${rp2_common_dir}/hardware_xosc/include
-    ${rp2_common_dir}/hardware_pll/include
     ${rp2_common_dir}/hardware_irq/include
-    ${rp2_common_dir}/hardware_sync/include
-    ${rp2_common_dir}/hardware_timer/include
+    ${rp2_common_dir}/hardware_pll/include
+    ${rp2_common_dir}/hardware_rcp/include
     ${rp2_common_dir}/hardware_resets/include
-    ${rp2_common_dir}/hardware_boot_lock/include
-    ${rp2_common_dir}/hardware_ticks/include
     ${rp2_common_dir}/hardware_sync_spin_lock/include
+    ${rp2_common_dir}/hardware_sync/include
+    ${rp2_common_dir}/hardware_ticks/include
+    ${rp2_common_dir}/hardware_timer/include
+    ${rp2_common_dir}/hardware_watchdog/include
+    ${rp2_common_dir}/hardware_xosc/include
     ${rp2_common_dir}/pico_bootrom/include
     ${rp2_common_dir}/pico_flash/include
+    ${rp2_common_dir}/pico_platform_common/include
     ${rp2_common_dir}/pico_platform_compiler/include
-    ${rp2_common_dir}/pico_platform_sections/include
     ${rp2_common_dir}/pico_platform_panic/include
-    ${common_dir}/boot_picoboot_headers/include
-    ${common_dir}/boot_picobin_headers/include
+    ${rp2_common_dir}/pico_platform_sections/include
     ${rp2xxx_dir}/hardware_regs/include
     ${rp2xxx_dir}/hardware_structs/include
     ${rp2xxx_dir}/pico_platform/include
-    ${CMAKE_CURRENT_LIST_DIR}
   )
 
   zephyr_library_sources_ifdef(CONFIG_PICOSDK_USE_GPIO
diff --git a/modules/hal_rpi_pico/bootloader/CMakeLists.txt b/modules/hal_rpi_pico/bootloader/CMakeLists.txt
index 241ba3c23c305..7df735d005741 100644
--- a/modules/hal_rpi_pico/bootloader/CMakeLists.txt
+++ b/modules/hal_rpi_pico/bootloader/CMakeLists.txt
@@ -37,6 +37,7 @@ target_include_directories(boot_stage2 PUBLIC
   ${rp2040_dir}/pico_platform/include
   ${rp2040_dir}/hardware_regs/include
   ${common_dir}/pico_base_headers/include
+  ${rp2_common_dir}/pico_platform_common/include
   ${rp2_common_dir}/pico_platform_compiler/include
   ${rp2_common_dir}/pico_platform_sections/include
   ${rp2_common_dir}/pico_platform_panic/include
diff --git a/west.yml b/west.yml
index dffa0db42ac17..60414756121f9 100644
--- a/west.yml
+++ b/west.yml
@@ -231,7 +231,7 @@ manifest:
         - hal
     - name: hal_rpi_pico
       path: modules/hal/rpi_pico
-      revision: b547a36a722af7787e5f55b551fd6ce72dcba5a4
+      revision: 09e957522da60581cf7958b31f8e625d969c69a5
       groups:
         - hal
     - name: hal_sifli