diff --git a/bazel/config/BUILD.bazel b/bazel/config/BUILD.bazel
index ea8187924..dfb3e992a 100644
--- a/bazel/config/BUILD.bazel
+++ b/bazel/config/BUILD.bazel
@@ -237,6 +237,7 @@ string_flag(
         "no_flash",
         "copy_to_ram",
         "blocked_ram",
+        "xip_ram",
     ],
 )
 
diff --git a/bazel/constraint/BUILD.bazel b/bazel/constraint/BUILD.bazel
index 8fcd1a611..211aac6eb 100644
--- a/bazel/constraint/BUILD.bazel
+++ b/bazel/constraint/BUILD.bazel
@@ -303,3 +303,8 @@ config_setting(
     name = "pico_binary_type_blocked_ram",
     flag_values = {"//bazel/config:PICO_DEFAULT_BINARY_TYPE": "blocked_ram"},
 )
+
+config_setting(
+    name = "pico_binary_type_xip_ram",
+    flag_values = {"//bazel/config:PICO_DEFAULT_BINARY_TYPE": "xip_ram"},
+)
diff --git a/src/common/pico_base_headers/BUILD.bazel b/src/common/pico_base_headers/BUILD.bazel
index c86234768..8f15e44f6 100644
--- a/src/common/pico_base_headers/BUILD.bazel
+++ b/src/common/pico_base_headers/BUILD.bazel
@@ -78,6 +78,7 @@ cc_library(
         "//bazel/constraint:pico_binary_type_no_flash": ["PICO_NO_FLASH=1"],
         "//bazel/constraint:pico_binary_type_copy_to_ram": ["PICO_COPY_TO_RAM=1"],
         "//bazel/constraint:pico_binary_type_blocked_ram": ["PICO_USE_BLOCKED_RAM=1"],
+        "//bazel/constraint:pico_binary_type_xip_ram": ["PICO_XIP_RAM=1"],
         "//conditions:default": [],
     }),
 )
diff --git a/src/rp2040/pico_platform/memmap_blocked_ram.ld b/src/rp2040/pico_platform/memmap_blocked_ram.ld
index 7d7ab9e9b..049e0b099 100644
--- a/src/rp2040/pico_platform/memmap_blocked_ram.ld
+++ b/src/rp2040/pico_platform/memmap_blocked_ram.ld
@@ -12,6 +12,7 @@ INCLUDE "memmap_default.incl"
  * └── memmap_default.incl                               rp2_common/pico_standard_link
  *     ├── set_memory_locations.incl                     rp2_common/pico_standard_link
  *     ├── memory_flash.incl                             rp2_common/pico_standard_link
+ *     ├── memory_xip_ram.incl                           rp2_common/pico_standard_link
  *     ├── memory_ram.incl                               rp2_common/pico_standard_link
  *     ├── memory_scratch.incl                           rp2_common/pico_standard_link
  *     ├── memory_generated.incl                         rp2_common/pico_standard_link
diff --git a/src/rp2040/pico_platform/memmap_copy_to_ram.ld b/src/rp2040/pico_platform/memmap_copy_to_ram.ld
index 1ea516d55..330f17023 100644
--- a/src/rp2040/pico_platform/memmap_copy_to_ram.ld
+++ b/src/rp2040/pico_platform/memmap_copy_to_ram.ld
@@ -9,6 +9,7 @@ INCLUDE "memmap_copy_to_ram.incl"
  * └── memmap_copy_to_ram.incl                           rp2_common/pico_standard_link
  *     ├── set_memory_locations.incl                     rp2_common/pico_standard_link
  *     ├── memory_flash.incl                             rp2_common/pico_standard_link
+ *     ├── memory_xip_ram.incl                           rp2_common/pico_standard_link
  *     ├── memory_ram.incl                               rp2_common/pico_standard_link
  *     ├── memory_scratch.incl                           rp2_common/pico_standard_link
  *     ├── memory_generated.incl                         rp2_common/pico_standard_link
diff --git a/src/rp2040/pico_platform/memmap_default.ld b/src/rp2040/pico_platform/memmap_default.ld
index 2f4d3bf9b..b02671ea7 100644
--- a/src/rp2040/pico_platform/memmap_default.ld
+++ b/src/rp2040/pico_platform/memmap_default.ld
@@ -9,6 +9,7 @@ INCLUDE "memmap_default.incl"
  * └── memmap_default.incl                               rp2_common/pico_standard_link
  *     ├── set_memory_locations.incl                     rp2_common/pico_standard_link
  *     ├── memory_flash.incl                             rp2_common/pico_standard_link
+ *     ├── memory_xip_ram.incl                           rp2_common/pico_standard_link
  *     ├── memory_ram.incl                               rp2_common/pico_standard_link
  *     ├── memory_scratch.incl                           rp2_common/pico_standard_link
  *     ├── memory_generated.incl                         rp2_common/pico_standard_link
diff --git a/src/rp2040/pico_platform/memmap_no_flash.ld b/src/rp2040/pico_platform/memmap_no_flash.ld
index dddfbd4e6..1ae20f2de 100644
--- a/src/rp2040/pico_platform/memmap_no_flash.ld
+++ b/src/rp2040/pico_platform/memmap_no_flash.ld
@@ -8,6 +8,7 @@ INCLUDE "memmap_no_flash.incl"
  * memmap_no_flash.ld                                    rp2040/pico_platform
  * └── memmap_no_flash.incl                              rp2_common/pico_standard_link
  *     ├── set_memory_locations.incl                     rp2_common/pico_standard_link
+ *     ├── memory_xip_ram.incl                           rp2_common/pico_standard_link
  *     ├── memory_ram.incl                               rp2_common/pico_standard_link
  *     ├── memory_scratch.incl                           rp2_common/pico_standard_link
  *     ├── memory_generated.incl                         rp2_common/pico_standard_link
diff --git a/src/rp2350/pico_platform/BUILD.bazel b/src/rp2350/pico_platform/BUILD.bazel
index 4efa080e5..65d4adc6a 100644
--- a/src/rp2350/pico_platform/BUILD.bazel
+++ b/src/rp2350/pico_platform/BUILD.bazel
@@ -61,6 +61,7 @@ exports_files(
         "memmap_copy_to_ram.ld",
         "memmap_default.ld",
         "memmap_no_flash.ld",
+        "memmap_xip_ram.ld",
     ],
 )
 
@@ -79,6 +80,11 @@ linker_scripts(
     link_scripts = ["memmap_no_flash.ld"],
 )
 
+linker_scripts(
+    name = "memmap_xip_ram",
+    link_scripts = ["memmap_xip_ram.ld"],
+)
+
 cc_library(
     name = "default_linker_script",
     target_compatible_with = ["//bazel/constraint:rp2350"],
@@ -133,3 +139,21 @@ cc_library(
         "memmap_no_flash",
     ],
 )
+
+# PICO_BUILD_DEFINE: PICO_XIP_RAM, whether this is a 'xip_ram' build, type=bool, default=0, but dependent on CMake options, group=pico_standard_link
+cc_library(
+    name = "xip_ram_linker_script",
+    target_compatible_with = ["//bazel/constraint:rp2350"],
+    visibility = [
+        "//src/rp2_common/pico_standard_link:__pkg__",
+    ],
+    # The order of the linker scripts below is important.
+    # Prevent buildifier from reordering them.
+    # buildifier: leave-alone
+    deps = [
+        "//src/rp2_common/pico_crt0:no_warn_rwx_flag",
+        "//src/rp2350/pico_platform/script_include:rp2350_linker_scripts",
+        "//src/rp2_common/pico_standard_link/script_include:rp2_linker_scripts",
+        "memmap_xip_ram",
+    ],
+)
diff --git a/src/rp2350/pico_platform/memmap_copy_to_ram.ld b/src/rp2350/pico_platform/memmap_copy_to_ram.ld
index 0f2df7a27..b9437c80e 100644
--- a/src/rp2350/pico_platform/memmap_copy_to_ram.ld
+++ b/src/rp2350/pico_platform/memmap_copy_to_ram.ld
@@ -9,6 +9,7 @@ INCLUDE "memmap_copy_to_ram.incl"
  * └── memmap_copy_to_ram.incl                           rp2_common/pico_standard_link
  *     ├── set_memory_locations.incl                     rp2_common/pico_standard_link
  *     ├── memory_flash.incl                             rp2_common/pico_standard_link
+ *     ├── memory_xip_ram.incl                           rp2_common/pico_standard_link
  *     ├── memory_ram.incl                               rp2_common/pico_standard_link
  *     ├── memory_scratch.incl                           rp2_common/pico_standard_link
  *     ├── memory_generated.incl                         rp2_common/pico_standard_link
diff --git a/src/rp2350/pico_platform/memmap_default.ld b/src/rp2350/pico_platform/memmap_default.ld
index 21a002792..badeb4630 100644
--- a/src/rp2350/pico_platform/memmap_default.ld
+++ b/src/rp2350/pico_platform/memmap_default.ld
@@ -9,6 +9,7 @@ INCLUDE "memmap_default.incl"
  * └── memmap_default.incl                               rp2_common/pico_standard_link
  *     ├── set_memory_locations.incl                     rp2_common/pico_standard_link
  *     ├── memory_flash.incl                             rp2_common/pico_standard_link
+ *     ├── memory_xip_ram.incl                           rp2_common/pico_standard_link
  *     ├── memory_ram.incl                               rp2_common/pico_standard_link
  *     ├── memory_scratch.incl                           rp2_common/pico_standard_link
  *     ├── memory_generated.incl                         rp2_common/pico_standard_link
diff --git a/src/rp2350/pico_platform/memmap_no_flash.ld b/src/rp2350/pico_platform/memmap_no_flash.ld
index d9f643f04..55e4d085a 100644
--- a/src/rp2350/pico_platform/memmap_no_flash.ld
+++ b/src/rp2350/pico_platform/memmap_no_flash.ld
@@ -8,6 +8,7 @@ INCLUDE "memmap_no_flash.incl"
  * memmap_no_flash.ld                                    rp2350/pico_platform
  * └── memmap_no_flash.incl                              rp2_common/pico_standard_link
  *     ├── set_memory_locations.incl                     rp2_common/pico_standard_link
+ *     ├── memory_xip_ram.incl                           rp2_common/pico_standard_link
  *     ├── memory_ram.incl                               rp2_common/pico_standard_link
  *     ├── memory_scratch.incl                           rp2_common/pico_standard_link
  *     ├── memory_generated.incl                         rp2_common/pico_standard_link
diff --git a/src/rp2350/pico_platform/memmap_xip_ram.ld b/src/rp2350/pico_platform/memmap_xip_ram.ld
new file mode 100644
index 000000000..56c936fa2
--- /dev/null
+++ b/src/rp2350/pico_platform/memmap_xip_ram.ld
@@ -0,0 +1,42 @@
+INCLUDE "memmap_xip_ram.incl"
+
+/* BEGIN_MEMMAP_INCLUDE_TREE
+ * This is the default include tree for this file (generated by tools/memmap_annotate.py
+ * and tools/memmap_include_tree.py). To override any files in this tree, see the
+ * pico_add_linker_script_override_path CMake function under pico_standard_link.
+ *
+ * memmap_xip_ram.ld                                     rp2350/pico_platform
+ * └── memmap_xip_ram.incl                               rp2_common/pico_standard_link
+ *     ├── set_memory_locations.incl                     rp2_common/pico_standard_link
+ *     ├── memory_ram.incl                               rp2_common/pico_standard_link
+ *     ├── memory_scratch.incl                           rp2_common/pico_standard_link
+ *     ├── memory_generated.incl                         rp2_common/pico_standard_link
+ *     ├── memory_extra.incl                             rp2_common/pico_standard_link
+ *     ├── memory_aliases_xip_ram_only.incl              rp2_common/pico_standard_link
+ *     └── sections_no_flash.incl                        rp2_common/pico_standard_link
+ *         ├── sections_no_flash_text.incl               rp2_common/pico_standard_link
+ *         │   ├── section_no_flash_text.incl            rp2_common/pico_standard_link
+ *         │   ├── section_no_flash_rodata.incl          rp2_common/pico_standard_link
+ *         │   ├── sections_arm_ex.incl                  rp2_common/pico_standard_link
+ *         │   └── section_binary_info.incl              rp2_common/pico_standard_link
+ *         ├── section_generated_post_text.incl          rp2_common/pico_standard_link
+ *         ├── section_extra_post_text.incl              rp2_common/pico_standard_link
+ *         ├── sections_no_flash_data.incl               rp2_common/pico_standard_link
+ *         │   ├── section_no_flash_data.incl            rp2_common/pico_standard_link
+ *         │   ├── section_uninitialized_data.incl       rp2_common/pico_standard_link
+ *         │   ├── section_tls.incl                      rp2_common/pico_standard_link
+ *         │   └── section_persistent_data.incl          rp2_common/pico_standard_link
+ *         ├── section_generated_post_data.incl          rp2_common/pico_standard_link
+ *         ├── section_extra_post_data.incl              rp2_common/pico_standard_link
+ *         ├── section_heap.incl                         rp2_common/pico_standard_link
+ *         ├── sections_scratch.incl                     rp2_common/pico_standard_link
+ *         ├── section_generated_post_scratch.incl       rp2_common/pico_standard_link
+ *         ├── section_extra_post_scratch.incl           rp2_common/pico_standard_link
+ *         ├── sections_stack.incl                       rp2_common/pico_standard_link
+ *         ├── section_end.incl                          rp2_common/pico_standard_link
+ *         ├── section_generated_post_end.incl           rp2_common/pico_standard_link
+ *         ├── section_extra_post_end.incl               rp2_common/pico_standard_link
+ *         ├── section_platform_end.incl                 rp2350/pico_platform
+ *         ├── section_generated_post_platform_end.incl  rp2_common/pico_standard_link
+ *         └── section_extra_post_platform_end.incl      rp2_common/pico_standard_link
+ * END_MEMMAP_INCLUDE_TREE */
diff --git a/src/rp2_common/hardware_flash/flash.c b/src/rp2_common/hardware_flash/flash.c
index fbca8de2c..5526db827 100644
--- a/src/rp2_common/hardware_flash/flash.c
+++ b/src/rp2_common/hardware_flash/flash.c
@@ -10,6 +10,7 @@
 #if PICO_RP2040
 #include "hardware/structs/io_qspi.h"
 #include "hardware/structs/ssi.h"
+#include "hardware/structs/xip.h"
 #else
 #include "hardware/structs/qmi.h"
 #include "hardware/regs/otp_data.h"
@@ -127,7 +128,9 @@ static void __no_inline_not_in_flash_func(flash_rp2350_restore_qmi_cs1)(const fl
 
 
 typedef struct flash_hardware_save_state {
-#if !PICO_RP2040
+#if PICO_RP2040
+    uint32_t xip_ctrl;
+#else
     flash_rp2350_qmi_save_state_t qmi_save;
 #endif
     uint32_t qspi_pads[count_of(pads_qspi_hw->io)];
@@ -139,7 +142,9 @@ static void __no_inline_not_in_flash_func(flash_save_hardware_state)(flash_hardw
     for (size_t i = 0; i < count_of(pads_qspi_hw->io); ++i) {
         state->qspi_pads[i] = pads_qspi_hw->io[i];
     }
-#if !PICO_RP2040
+#if PICO_RP2040
+    state->xip_ctrl = xip_ctrl_hw->ctrl;
+#else
     flash_rp2350_save_qmi_cs1(&state->qmi_save);
 #endif
 }
@@ -148,7 +153,9 @@ static void __no_inline_not_in_flash_func(flash_restore_hardware_state)(flash_ha
     for (size_t i = 0; i < count_of(pads_qspi_hw->io); ++i) {
         pads_qspi_hw->io[i] = state->qspi_pads[i];
     }
-#if !PICO_RP2040
+#if PICO_RP2040
+    xip_ctrl_hw->ctrl = state->xip_ctrl;
+#else
     // Tail call!
     flash_rp2350_restore_qmi_cs1(&state->qmi_save);
 #endif
diff --git a/src/rp2_common/hardware_riscv_platform_timer/BUILD.bazel b/src/rp2_common/hardware_riscv_platform_timer/BUILD.bazel
index 790be1e40..943e0504d 100644
--- a/src/rp2_common/hardware_riscv_platform_timer/BUILD.bazel
+++ b/src/rp2_common/hardware_riscv_platform_timer/BUILD.bazel
@@ -1,5 +1,5 @@
 load("@rules_cc//cc:cc_library.bzl", "cc_library")
-load("//bazel:defs.bzl", "compatible_with_rp2")
+load("//bazel:defs.bzl", "compatible_with_rp2", "incompatible_with_config")
 
 package(default_visibility = ["//visibility:public"])
 
@@ -7,7 +7,7 @@ cc_library(
     name = "hardware_riscv_platform_timer",
     hdrs = ["include/hardware/riscv_platform_timer.h"],
     includes = ["include"],
-    target_compatible_with = compatible_with_rp2() + ["@platforms//cpu:riscv32"],
+    target_compatible_with = compatible_with_rp2() + incompatible_with_config("//bazel/constraint:rp2040"),
     deps = [
         "//src/rp2_common:hardware_structs",
         "//src/rp2_common:pico_platform",
diff --git a/src/rp2_common/hardware_sync_spin_lock/include/hardware/sync/spin_lock.h b/src/rp2_common/hardware_sync_spin_lock/include/hardware/sync/spin_lock.h
index 2be493d6f..5b88e870b 100644
--- a/src/rp2_common/hardware_sync_spin_lock/include/hardware/sync/spin_lock.h
+++ b/src/rp2_common/hardware_sync_spin_lock/include/hardware/sync/spin_lock.h
@@ -10,62 +10,102 @@
 #include "pico.h"
 #include "hardware/sync.h"
 
-// PICO_CONFIG: PICO_USE_SW_SPIN_LOCKS, Use software implementation for spin locks, type=bool, default=1 on RP2350 due to errata, group=hardware_sync
+// PICO_CONFIG: PICO_USE_SW_SPIN_LOCKS, Use software implementation for spin locks, type=bool, default=1 on RP2350 due to errata E2, group=hardware_sync
 #ifndef PICO_USE_SW_SPIN_LOCKS
 #if PICO_RP2350
-#define PICO_USE_SW_SPIN_LOCKS 1
+#define PICO_USE_SW_SPIN_LOCKS !PICO_XIP_RAM
 #endif
 #endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_IRQ, Spinlock ID for IRQ protection, min=0, max=31, default=9, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_IRQ
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_IRQ 5
+#else
 #define PICO_SPINLOCK_ID_IRQ 9
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_TIMER, Spinlock ID for Timer protection, min=0, max=31, default=10, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_TIMER
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_TIMER 6
+#else
 #define PICO_SPINLOCK_ID_TIMER 10
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_HARDWARE_CLAIM, Spinlock ID for Hardware claim protection, min=0, max=31, default=11, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_HARDWARE_CLAIM
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_HARDWARE_CLAIM 7
+#else
 #define PICO_SPINLOCK_ID_HARDWARE_CLAIM 11
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_RAND, Spinlock ID for Random Number Generator, min=0, max=31, default=12, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_RAND
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_RAND 10
+#else
 #define PICO_SPINLOCK_ID_RAND 12
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_ATOMIC, Spinlock ID for atomics, min=0, max=31, default=13, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_ATOMIC
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_ATOMIC 11
+#else
 #define PICO_SPINLOCK_ID_ATOMIC 13
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_OS1, First Spinlock ID reserved for use by low level OS style software, min=0, max=31, default=14, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_OS1
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_OS1 18
+#else
 #define PICO_SPINLOCK_ID_OS1 14
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_OS2, Second Spinlock ID reserved for use by low level OS style software, min=0, max=31, default=15, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_OS2
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_OS2 19
+#else
 #define PICO_SPINLOCK_ID_OS2 15
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_STRIPED_FIRST, Lowest Spinlock ID in the 'striped' range, min=0, max=31, default=16, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_STRIPED_FIRST
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_STRIPED_FIRST 20
+#else
 #define PICO_SPINLOCK_ID_STRIPED_FIRST 16
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_STRIPED_LAST, Highest Spinlock ID in the 'striped' range, min=0, max=31, default=23, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_STRIPED_LAST
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_STRIPED_LAST 25
+#else
 #define PICO_SPINLOCK_ID_STRIPED_LAST 23
 #endif
+#endif
 
 // PICO_CONFIG: PICO_SPINLOCK_ID_CLAIM_FREE_FIRST, Lowest Spinlock ID in the 'claim free' range, min=0, max=31, default=24, group=hardware_sync
 #ifndef PICO_SPINLOCK_ID_CLAIM_FREE_FIRST
+#if PICO_RP2350 && !PICO_USE_SW_SPIN_LOCKS
+#define PICO_SPINLOCK_ID_CLAIM_FREE_FIRST 26
+#else
 #define PICO_SPINLOCK_ID_CLAIM_FREE_FIRST 24
 #endif
+#endif
 
 #ifdef PICO_SPINLOCK_ID_CLAIM_FREE_END
 #warning PICO_SPINLOCK_ID_CLAIM_FREE_END has been renamed to PICO_SPINLOCK_ID_CLAIM_FREE_LAST
diff --git a/src/rp2_common/pico_crt0/crt0.S b/src/rp2_common/pico_crt0/crt0.S
index fa113fbab..39b6e8303 100644
--- a/src/rp2_common/pico_crt0/crt0.S
+++ b/src/rp2_common/pico_crt0/crt0.S
@@ -11,6 +11,7 @@
 
 #include "hardware/regs/addressmap.h"
 #include "hardware/regs/sio.h"
+#include "hardware/regs/xip.h"
 #include "pico/binary_info/defs.h"
 #include "boot/picobin.h"
 #include "pico/bootrom.h"
@@ -24,6 +25,20 @@
 #define PICO_CRT0_NEAR_CALLS 0
 #endif
 
+// PICO_CONFIG: PICO_USE_XIP_CACHE_AS_RAM, Whether to use xip cache as ram, default=PICO_XIP_RAM, type=bool, group=pico_crt0
+#ifndef PICO_USE_XIP_CACHE_AS_RAM
+#define PICO_USE_XIP_CACHE_AS_RAM PICO_XIP_RAM
+#endif
+
+// PICO_CONFIG: PICO_CRT0_NO_DATA_COPY, Whether crt0 should perform the data copies - usually copying from flash into sram, default=1 for no_flash builds, 0 otherwise, type=bool, group=pico_crt0
+#ifndef PICO_CRT0_NO_DATA_COPY
+#if PICO_RP2040
+#define PICO_CRT0_NO_DATA_COPY (PICO_NO_FLASH && !PICO_USE_XIP_CACHE_AS_RAM)
+#else
+#define PICO_CRT0_NO_DATA_COPY PICO_NO_FLASH
+#endif
+#endif
+
 #ifdef NDEBUG
 #ifndef COLLAPSE_IRQS
 #define COLLAPSE_IRQS
@@ -461,6 +476,14 @@ hold_non_core0_in_bootrom:
     b _enter_vtable_in_r0
 1:
 
+#if PICO_RP2040 && PICO_USE_XIP_CACHE_AS_RAM
+_disable_xip_cache:
+    // Disable the XIP cache on RP2040 making its SRAM available for use
+    ldr r0, =(REG_ALIAS_CLR_BITS + XIP_CTRL_BASE + XIP_CTRL_OFFSET)
+    movs r1, #XIP_CTRL_EN_BITS
+    str r1, [r0]
+#endif
+
 #if !PICO_RP2040 && PICO_EMBED_XIP_SETUP && !PICO_NO_FLASH
     // Execute boot2 on the core 0 stack (it also gets copied into BOOTRAM due
     // to inclusion in the data copy table below). Note the reference
@@ -481,7 +504,7 @@ _call_xip_setup:
 
     // In a NO_FLASH binary, don't perform .data etc copy, since it's loaded
     // in-place by the SRAM load. Still need to clear .bss
-#if !PICO_NO_FLASH
+#if !PICO_CRT0_NO_DATA_COPY
     adr r4, data_cpy_table
 
     // assume there is at least one entry
@@ -548,11 +571,21 @@ platform_entry: // symbol for stack traces
     b 1b
 
 
-#if !PICO_NO_FLASH
+#if !PICO_CRT0_NO_DATA_COPY
+#if PICO_NO_FLASH
+data_cpy:
+    // skip copies with same source and destination
+    cmp r1, r2
+    bne data_cpy_start
+    bx lr
+#else
+    // go straight into the copy
+    #define data_cpy_start data_cpy
+#endif
 data_cpy_loop:
     ldm r1!, {r0}
     stm r2!, {r0}
-data_cpy:
+data_cpy_start:
     cmp r2, r3
     blo data_cpy_loop
     bx lr
@@ -629,6 +662,12 @@ data_cpy_table:
 .word __scratch_y_start__
 .word __scratch_y_end__
 
+#if PICO_TIME_CRITICAL_TEXT_IN_XIP_RAM
+.word __xip_ram_time_critical_text_source__
+.word __xip_ram_time_critical_text_start__
+.word __xip_ram_time_critical_text_end__
+#endif
+
 .word 0 // null terminator
 
 // ----------------------------------------------------------------------------
diff --git a/src/rp2_common/pico_crt0/crt0_riscv.S b/src/rp2_common/pico_crt0/crt0_riscv.S
index 31d39749f..e13f32d96 100644
--- a/src/rp2_common/pico_crt0/crt0_riscv.S
+++ b/src/rp2_common/pico_crt0/crt0_riscv.S
@@ -34,6 +34,14 @@
 #define PICO_CRT0_INCLUDE_PICOBIN_END_BLOCK (PICO_CRT0_INCLUDE_PICOBIN_BLOCK && !PICO_NO_FLASH)
 #endif
 
+#ifndef PICO_CRT0_NO_DATA_COPY
+#define PICO_CRT0_NO_DATA_COPY PICO_NO_FLASH
+#endif
+
+#ifndef PICO_USE_XIP_CACHE_AS_RAM
+#define PICO_USE_XIP_CACHE_AS_RAM PICO_XIP_RAM
+#endif
+
 // If vectors are in RAM, we put them in the .data section, so that they are
 // preloaded by _reset_handler (assuming this is not a loaded-in-place
 // binary).
@@ -348,7 +356,7 @@ _call_xip_setup:
 
     // In a NO_FLASH binary, don't perform .data etc copy, since it's loaded
     // in-place by the SRAM load. Still need to clear .bss
-#if !PICO_NO_FLASH
+#if !PICO_CRT0_NO_DATA_COPY
     la a4, data_cpy_table
 
     // assume there is at least one entry
@@ -405,14 +413,22 @@ platform_entry: // symbol for stack traces
     ebreak
     j 1b
 
-
-#if !PICO_NO_FLASH
+#if !PICO_CRT0_NO_DATA_COPY
+#if PICO_NO_FLASH
+data_cpy:
+    // skip copies with same source and destination
+    bne a0, a1, data_cpy_start
+    ret
+#else
+    // go straight into the copy
+    #define data_cpy_start data_cpy
+#endif
 data_cpy_loop:
     lw a0, (a1)
     sw a0, (a2)
     addi a1, a1, 4
     addi a2, a2, 4
-data_cpy:
+data_cpy_start:
     bltu a2, a3, data_cpy_loop
     ret
 #endif
@@ -480,6 +496,12 @@ data_cpy_table:
 .word __scratch_y_start__
 .word __scratch_y_end__
 
+#if PICO_TIME_CRITICAL_TEXT_IN_XIP_RAM
+.word __xip_ram_time_critical_text_source__
+.word __xip_ram_time_critical_text_start__
+.word __xip_ram_time_critical_text_end__
+#endif
+
 .word 0 // null terminator
 
 // ----------------------------------------------------------------------------
diff --git a/src/rp2_common/pico_crt0/embedded_start_block.inc.S b/src/rp2_common/pico_crt0/embedded_start_block.inc.S
index 000da904b..52899b861 100644
--- a/src/rp2_common/pico_crt0/embedded_start_block.inc.S
+++ b/src/rp2_common/pico_crt0/embedded_start_block.inc.S
@@ -39,7 +39,7 @@
 #endif
 
 #ifndef PICO_CRT0_PIN_XIP_SRAM
-#define PICO_CRT0_PIN_XIP_SRAM 0
+#define PICO_CRT0_PIN_XIP_SRAM (PICO_USE_XIP_CACHE_AS_RAM || PICO_XIP_SRAM)
 #endif
 
 #if PICO_CRT0_IMAGE_TYPE_TBYB
diff --git a/src/rp2_common/pico_platform_sections/include/pico/platform/sections.h b/src/rp2_common/pico_platform_sections/include/pico/platform/sections.h
index 591e9e3b2..7b3d251ed 100644
--- a/src/rp2_common/pico_platform_sections/include/pico/platform/sections.h
+++ b/src/rp2_common/pico_platform_sections/include/pico/platform/sections.h
@@ -162,21 +162,24 @@
  *  \ingroup pico_platform
  *
  * Decorates a function name, such that the function will execute from RAM (assuming it is not inlined
- * into a flash function by the compiler) to avoid possible flash latency. Currently this macro is identical
+ * into a flash function by the compiler) to avoid possible flash latency. By default, this macro is identical
  * in implementation to `__not_in_flash_func`, however the semantics are distinct and a `__time_critical_func`
- * may in the future be treated more specially to reduce the overhead when calling such function from a flash
- * function.
+ * can be treated more specially to reduce the overhead when calling such a function.
+ * 
+ * For binaries that are not executing from flash (eg copy_to_ram and no_flash), one special treatment can be
+ * using the \ref`pico_use_xip_sram_for_time_critical` CMake function to place them in XIP RAM instead, as the
+ * XIP ports would be otherwise unused. 
  *
  * For example a function called my_func taking an int parameter:
  *
  *     void __time_critical_func(my_func)(int some_arg) {
  *
- * The function is placed in the `.time_critical.<func_name>` linker section
+ * The function is placed in the `.time_critical.text.<func_name>` linker section
  *
  * \see __not_in_flash_func
  */
 #ifndef __time_critical_func
-#define __time_critical_func(func_name) __not_in_flash_func(func_name)
+#define __time_critical_func(func_name) __noinline __attribute__((section(".time_critical.text." __STRING(func_name)))) func_name
 #endif
 
 /*! \brief Indicate a function should not be stored in flash and should not be inlined
@@ -198,7 +201,7 @@
 #else
 
 #ifndef RAM_SECTION_NAME
-#define RAM_SECTION_NAME(x) .time_critical.##x
+#define RAM_SECTION_NAME(x) .time_critical.text.##x
 #endif
 
 #ifndef SECTION_NAME
diff --git a/src/rp2_common/pico_standard_link/BUILD.bazel b/src/rp2_common/pico_standard_link/BUILD.bazel
index 4ebfdd428..5047fe72c 100644
--- a/src/rp2_common/pico_standard_link/BUILD.bazel
+++ b/src/rp2_common/pico_standard_link/BUILD.bazel
@@ -35,6 +35,7 @@ alias(
         "//bazel/constraint:pico_binary_type_no_flash": "//src/rp2_common/pico_standard_link:no_flash_linker_script",
         "//bazel/constraint:pico_binary_type_copy_to_ram": "//src/rp2_common/pico_standard_link:copy_to_ram_linker_script",
         "//bazel/constraint:pico_binary_type_blocked_ram": "//src/rp2_common/pico_standard_link:blocked_ram_linker_script",
+        "//bazel/constraint:pico_binary_type_xip_ram": "//src/rp2_common/pico_standard_link:xip_ram_linker_script",
         # Then for the default type
         "//bazel/constraint:rp2040": "//src/rp2040/pico_platform:default_linker_script",
         "//bazel/constraint:rp2350": "//src/rp2350/pico_platform:default_linker_script",
@@ -68,6 +69,14 @@ alias(
     }),
 )
 
+alias(
+    name = "xip_ram_linker_script",
+    actual = select({
+        "//bazel/constraint:rp2350": "//src/rp2350/pico_platform:xip_ram_linker_script",
+        "//conditions:default": "//bazel:incompatible_cc_lib",
+    }),
+)
+
 cc_library(
     name = "pico_standard_link",
     target_compatible_with = compatible_with_rp2(),
diff --git a/src/rp2_common/pico_standard_link/CMakeLists.txt b/src/rp2_common/pico_standard_link/CMakeLists.txt
index f4cf41ba3..e8586aa48 100644
--- a/src/rp2_common/pico_standard_link/CMakeLists.txt
+++ b/src/rp2_common/pico_standard_link/CMakeLists.txt
@@ -109,6 +109,70 @@ if (NOT TARGET pico_standard_link)
         set_target_properties(${TARGET} PROPERTIES PICO_TARGET_BINARY_TYPE ${TYPE})
     endfunction()
 
+    # pico_include_in_generated_section(TARGET SECTION FILE)
+    # \brief\ Append a linker script include file to a generated section of the linker script
+    #
+    # Arranges for FILE to be INCLUDEd inside the generated SECTION of the target's linker script.
+    #
+    # This is primarily intended for internal SDK use - users should instead override the
+    # section_extra_SECTION.incl files, using pico_add_linker_script_override_path.
+    #
+    # \param\ TARGET  The target whose linker script should be modified
+    # \param\ SECTION The linker script section name to append to (e.g. post_text)
+    # \param\ FILE    Path to the linker script fragment to INCLUDE
+    function(pico_include_in_generated_section TARGET SECTION FILE)
+        get_target_property(already_generated ${TARGET} PICO_TARGET_LINKER_SCRIPT_INCLUDE_${SECTION})
+        set_property(TARGET ${TARGET} APPEND PROPERTY PICO_TARGET_LINKER_SCRIPT_INCLUDE_${SECTION} "${FILE}")
+        # Make sure directory is empty before generating files, to avoid stale overrides
+        file(REMOVE_RECURSE ${CMAKE_BINARY_DIR}/generated/pico_standard_link/${TARGET})
+        if (NOT already_generated)
+            file(GENERATE OUTPUT ${CMAKE_BINARY_DIR}/generated/pico_standard_link/${TARGET}/section_generated_${SECTION}.incl
+                CONTENT "INCLUDE \"$<JOIN:$<TARGET_PROPERTY:${TARGET},PICO_TARGET_LINKER_SCRIPT_INCLUDE_${SECTION}>,\"\nINCLUDE \">\""
+            )
+            pico_add_linker_script_override_path(${TARGET} ${CMAKE_BINARY_DIR}/generated/pico_standard_link/${TARGET})
+        endif()
+    endfunction()
+
+    # pico_set_compile_definition(TARGET DEFINE VALUE)
+    # \brief\ Set a compile definition on a target, guarding against conflicting redefinitions
+    #
+    # Equivalent to target_compile_definitions(TARGET PRIVATE DEFINE=VALUE) but tracks the value
+    # as a target property so that a second call with the same DEFINE and the same VALUE is silently
+    # ignored, while a second call with a different VALUE is a fatal error.
+    #
+    # \param\ TARGET The target to add the compile definition to
+    # \param\ DEFINE The preprocessor symbol name
+    # \param\ VALUE  The value to assign to the symbol
+    function(pico_set_compile_definition TARGET DEFINE VALUE)
+        get_target_property(already_set ${TARGET} PICO_TARGET_DEFINITION_${DEFINE})
+        if (already_set MATCHES "NOTFOUND")
+            set_target_properties(${TARGET} PROPERTIES PICO_TARGET_DEFINITION_${DEFINE} ${VALUE})
+            target_compile_definitions(${TARGET} PRIVATE ${DEFINE}=${VALUE})
+        else()
+            if (NOT ${VALUE} STREQUAL ${already_set})
+                message(FATAL_ERROR "Multiple calls to pico_set_compile_definition for ${DEFINE} with different values (${already_set} vs ${VALUE})")
+            endif()
+        endif()
+    endfunction()
+
+    # pico_use_xip_sram_for_time_critical(TARGET)
+    # \brief\ Place time-critical code for the target into XIP SRAM
+    #
+    # Configures the target to run functions marked __time_critical_func() from XIP SRAM rather than
+    # normal SRAM, as it has dedicated ports which are otherwise unused in no_flash and copy_to_ram
+    # binaries. This sets PICO_TIME_CRITICAL_TEXT_IN_XIP_RAM=1, PICO_USE_XIP_CACHE_AS_RAM=1, and
+    # injects the required linker script fragment via pico_include_in_generated_section.
+    #
+    # This should not be used for flash binaries, as the XIP ports are in use there, and therefore
+    # this will just make time-critical functions slower.
+    #
+    # \param\ TARGET The target whose time-critical functions should run from XIP SRAM
+    function(pico_use_xip_sram_for_time_critical TARGET)
+        target_compile_definitions(${TARGET} PRIVATE PICO_TIME_CRITICAL_TEXT_IN_XIP_RAM=1)
+        pico_set_compile_definition(${TARGET} PICO_USE_XIP_CACHE_AS_RAM 1) # may be set elsewhere too
+        pico_include_in_generated_section(${TARGET} post_text "section_time_critical_xip_ram_text.incl")
+    endfunction()
+
     # PICO_CMAKE_CONFIG: PICO_DEFAULT_BINARY_TYPE, The default binary type to use, type=string, default=default, group=build
     # slightly messy as we support both the preferred PICO_DEFAULT_BINARY_TYPE and the individual variables
     if (NOT PICO_DEFAULT_BINARY_TYPE)
@@ -184,15 +248,22 @@ if (NOT TARGET pico_standard_link)
     pico_add_link_depend(pico_standard_link ${_LINKER_SCRIPT_EXPRESSION})
     unset(_LINKER_SCRIPT_EXPRESSION)
 
-    # PICO_NO_FLASH will be set based on PICO_TARGET_BUILD_TYPE target property being equal to no_flash if set, otherwise to the value of the PICO_NO_FLASH cmake variable unless PICO_TARGET_TYPE is set to something else
+    set(NO_FLASH_BINARY_TYPES no_flash xip_ram)
+    set(COPY_TO_RAM_BINARY_TYPES copy_to_ram)
+    set(XIP_RAM_BINARY_TYPES xip_ram)
+
+    # PICO_NO_FLASH will be set based on PICO_TARGET_BUILD_TYPE target property being in NO_FLASH_BINARY_TYPES if set, otherwise to the value of the PICO_NO_FLASH cmake variable unless PICO_TARGET_TYPE is set to something else
     # PICO_BUILD_DEFINE: PICO_NO_FLASH, whether this is a 'no_flash' build, type=bool, default=0, but dependent on CMake options, group=pico_standard_link
-    target_compile_definitions(pico_standard_link INTERFACE PICO_NO_FLASH=$<IF:$<STREQUAL:$<TARGET_PROPERTY:PICO_TARGET_BINARY_TYPE>,no_flash>,1,$<AND:$<BOOL:${PICO_NO_FLASH}>,$<STREQUAL:,$<TARGET_PROPERTY:PICO_TARGET_BINARY_TYPE>>>>)
+    target_compile_definitions(pico_standard_link INTERFACE PICO_NO_FLASH=$<IF:$<IN_LIST:$<TARGET_PROPERTY:PICO_TARGET_BINARY_TYPE>,${NO_FLASH_BINARY_TYPES}>,1,$<AND:$<BOOL:${PICO_NO_FLASH}>,$<STREQUAL:,$<TARGET_PROPERTY:PICO_TARGET_BINARY_TYPE>>>>)
     # PICO_USE_BLOCKED_RAM will be set based on PICO_TARGET_BUILD_TYPE target property being equal to use_blocked_ram if set, otherwise to the value of the PICO_USE_BLOCKED_RAM cmake variable unless PICO_TARGET_TYPE is set to something else
     # PICO_BUILD_DEFINE: PICO_USE_BLOCKED_RAM, whether this is a 'blocked_ram' build, type=bool, default=0, but dependent on CMake options, group=pico_standard_link
     target_compile_definitions(pico_standard_link INTERFACE PICO_USE_BLOCKED_RAM=$<IF:$<STREQUAL:$<TARGET_PROPERTY:PICO_TARGET_BINARY_TYPE>,use_blocked_ram>,1,$<AND:$<BOOL:${PICO_USE_BLOCKED_RAM}>,$<STREQUAL:,$<TARGET_PROPERTY:PICO_TARGET_BINARY_TYPE>>>>)
-    # PICO_COPY_TO_RAM will be set based on PICO_TARGET_BUILD_TYPE target property being equal to copy_to_ram if set, otherwise to the value of the PICO_COPY_TO_RAM cmake variable unless PICO_TARGET_TYPE is set to something else
+    # PICO_COPY_TO_RAM will be set based on PICO_TARGET_BUILD_TYPE target property being in COPY_TO_RAM_BINARY_TYPES if set, otherwise to the value of the PICO_COPY_TO_RAM cmake variable unless PICO_TARGET_TYPE is set to something else
     # PICO_BUILD_DEFINE: PICO_COPY_TO_RAM, whether this is a 'copy_to_ram' build, type=bool, default=0, but dependent on CMake options, group=pico_standard_link
-    target_compile_definitions(pico_standard_link INTERFACE PICO_COPY_TO_RAM=$<IF:$<STREQUAL:$<TARGET_PROPERTY:PICO_TARGET_BINARY_TYPE>,copy_to_ram>,1,$<AND:$<BOOL:${PICO_COPY_TO_RAM}>,$<STREQUAL:,$<TARGET_PROPERTY:PICO_TARGET_BINARY_TYPE>>>>)
+    target_compile_definitions(pico_standard_link INTERFACE PICO_COPY_TO_RAM=$<IF:$<IN_LIST:$<TARGET_PROPERTY:PICO_TARGET_BINARY_TYPE>,${COPY_TO_RAM_BINARY_TYPES}>,1,$<AND:$<BOOL:${PICO_COPY_TO_RAM}>,$<STREQUAL:,$<TARGET_PROPERTY:PICO_TARGET_BINARY_TYPE>>>>)
+    # PICO_XIP_RAM will be set based on PICO_TARGET_BUILD_TYPE target property being in XIP_RAM_BINARY_TYPES if set, otherwise to the value of the PICO_XIP_RAM cmake variable unless PICO_TARGET_TYPE is set to something else
+    # PICO_BUILD_DEFINE: PICO_XIP_RAM, whether this is a 'xip_ram' build, type=bool, default=0, but dependent on CMake options, group=pico_standard_link
+    target_compile_definitions(pico_standard_link INTERFACE PICO_XIP_RAM=$<IF:$<IN_LIST:$<TARGET_PROPERTY:PICO_TARGET_BINARY_TYPE>,${XIP_RAM_BINARY_TYPES}>,1,$<AND:$<BOOL:${PICO_XIP_RAM}>,$<STREQUAL:,$<TARGET_PROPERTY:PICO_TARGET_BINARY_TYPE>>>>)
 
     target_compile_definitions(pico_standard_link INTERFACE PICO_CMAKE_BUILD_TYPE="${CMAKE_BUILD_TYPE}")
     if (PICO_DEOPTIMIZED_DEBUG AND "${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
diff --git a/src/rp2_common/pico_standard_link/script_include/memmap_copy_to_ram.incl b/src/rp2_common/pico_standard_link/script_include/memmap_copy_to_ram.incl
index f54a3e833..5d05531f5 100644
--- a/src/rp2_common/pico_standard_link/script_include/memmap_copy_to_ram.incl
+++ b/src/rp2_common/pico_standard_link/script_include/memmap_copy_to_ram.incl
@@ -3,6 +3,7 @@ INCLUDE "set_memory_locations.incl"
 
 /* Include memory regions used */
 INCLUDE "memory_flash.incl"
+INCLUDE "memory_xip_ram.incl"
 INCLUDE "memory_ram.incl"
 INCLUDE "memory_scratch.incl"
 INCLUDE "memory_generated.incl"
diff --git a/src/rp2_common/pico_standard_link/script_include/memmap_default.incl b/src/rp2_common/pico_standard_link/script_include/memmap_default.incl
index 4f3233509..27d50deee 100644
--- a/src/rp2_common/pico_standard_link/script_include/memmap_default.incl
+++ b/src/rp2_common/pico_standard_link/script_include/memmap_default.incl
@@ -3,6 +3,7 @@ INCLUDE "set_memory_locations.incl"
 
 /* Include memory regions used */
 INCLUDE "memory_flash.incl"
+INCLUDE "memory_xip_ram.incl"
 INCLUDE "memory_ram.incl"
 INCLUDE "memory_scratch.incl"
 INCLUDE "memory_generated.incl"
diff --git a/src/rp2_common/pico_standard_link/script_include/memmap_no_flash.incl b/src/rp2_common/pico_standard_link/script_include/memmap_no_flash.incl
index c043470e9..8c9cf4ba2 100644
--- a/src/rp2_common/pico_standard_link/script_include/memmap_no_flash.incl
+++ b/src/rp2_common/pico_standard_link/script_include/memmap_no_flash.incl
@@ -2,6 +2,7 @@
 INCLUDE "set_memory_locations.incl"
 
 /* Include memory regions used */
+INCLUDE "memory_xip_ram.incl"
 INCLUDE "memory_ram.incl"
 INCLUDE "memory_scratch.incl"
 INCLUDE "memory_generated.incl"
diff --git a/src/rp2_common/pico_standard_link/script_include/memmap_xip_ram.incl b/src/rp2_common/pico_standard_link/script_include/memmap_xip_ram.incl
new file mode 100644
index 000000000..64c4c912a
--- /dev/null
+++ b/src/rp2_common/pico_standard_link/script_include/memmap_xip_ram.incl
@@ -0,0 +1,28 @@
+/* Include platform memory locations */
+INCLUDE "set_memory_locations.incl"
+
+/* Allow customisation of XIP_RAM_SCRATCH_SIZE */
+XIP_RAM_SCRATCH_SIZE = DEFINED(XIP_RAM_SCRATCH_SIZE) ? XIP_RAM_SCRATCH_SIZE : 2k;
+
+/* Split XIP_RAM into RAM and SCRATCH */
+RAM_ORIGIN = XIP_RAM_ORIGIN;
+RAM_LENGTH = XIP_RAM_LENGTH - (XIP_RAM_SCRATCH_SIZE*2);
+SCRATCH_X_ORIGIN = XIP_RAM_ORIGIN + XIP_RAM_LENGTH - (XIP_RAM_SCRATCH_SIZE*2);
+SCRATCH_X_LENGTH = XIP_RAM_SCRATCH_SIZE;
+SCRATCH_Y_ORIGIN = XIP_RAM_ORIGIN + XIP_RAM_LENGTH - XIP_RAM_SCRATCH_SIZE;
+SCRATCH_Y_LENGTH = XIP_RAM_SCRATCH_SIZE;
+
+/* Include memory regions used */
+INCLUDE "memory_ram.incl"
+INCLUDE "memory_scratch.incl"
+INCLUDE "memory_generated.incl"
+INCLUDE "memory_extra.incl"
+
+/* Include aliases for no_flash storage memory regions (alias to themselves) */
+INCLUDE "memory_aliases_xip_ram_only.incl"
+
+/* Define entry point symbol */
+ENTRY(_entry_point)
+
+/* Include no_flash sections */
+INCLUDE "sections_no_flash.incl"
diff --git a/src/rp2_common/pico_standard_link/script_include/memory_aliases_flash.incl b/src/rp2_common/pico_standard_link/script_include/memory_aliases_flash.incl
index 370b63ed1..200d878bb 100644
--- a/src/rp2_common/pico_standard_link/script_include/memory_aliases_flash.incl
+++ b/src/rp2_common/pico_standard_link/script_include/memory_aliases_flash.incl
@@ -2,5 +2,6 @@
 
 REGION_ALIAS("TEXT_STORE", FLASH);
 REGION_ALIAS("RAM_STORE", FLASH);
+REGION_ALIAS("XIP_RAM_STORE", FLASH);
 REGION_ALIAS("SCRATCH_X_STORE", FLASH);
 REGION_ALIAS("SCRATCH_Y_STORE", FLASH);
diff --git a/src/rp2_common/pico_standard_link/script_include/memory_aliases_no_flash.incl b/src/rp2_common/pico_standard_link/script_include/memory_aliases_no_flash.incl
index 258072736..2d48e870f 100644
--- a/src/rp2_common/pico_standard_link/script_include/memory_aliases_no_flash.incl
+++ b/src/rp2_common/pico_standard_link/script_include/memory_aliases_no_flash.incl
@@ -2,5 +2,6 @@
 
 REGION_ALIAS("TEXT_STORE", RAM);
 REGION_ALIAS("RAM_STORE", RAM);
+REGION_ALIAS("XIP_RAM_STORE", XIP_RAM);
 REGION_ALIAS("SCRATCH_X_STORE", SCRATCH_X);
 REGION_ALIAS("SCRATCH_Y_STORE", SCRATCH_Y);
diff --git a/src/rp2_common/pico_standard_link/script_include/memory_aliases_xip_ram_only.incl b/src/rp2_common/pico_standard_link/script_include/memory_aliases_xip_ram_only.incl
new file mode 100644
index 000000000..258072736
--- /dev/null
+++ b/src/rp2_common/pico_standard_link/script_include/memory_aliases_xip_ram_only.incl
@@ -0,0 +1,6 @@
+/* Store everything where it came from (ram/scratch) */
+
+REGION_ALIAS("TEXT_STORE", RAM);
+REGION_ALIAS("RAM_STORE", RAM);
+REGION_ALIAS("SCRATCH_X_STORE", SCRATCH_X);
+REGION_ALIAS("SCRATCH_Y_STORE", SCRATCH_Y);
diff --git a/src/rp2_common/pico_standard_link/script_include/section_time_critical_xip_ram_text.incl b/src/rp2_common/pico_standard_link/script_include/section_time_critical_xip_ram_text.incl
new file mode 100644
index 000000000..5d933adcc
--- /dev/null
+++ b/src/rp2_common/pico_standard_link/script_include/section_time_critical_xip_ram_text.incl
@@ -0,0 +1,15 @@
+/* Defines the following symbols for use by code:
+    __xip_ram_time_critical_text_start__, __xip_ram_time_critical_text_end__, __xip_ram_time_critical_text_source__
+*/
+
+SECTIONS
+{
+    .xip_ram_time_critical_text : {
+        __xip_ram_time_critical_text_start__ = .;
+        . = ALIGN(4);
+        *(.time_critical.text*)
+        . = ALIGN(4);
+        __xip_ram_time_critical_text_end__ = .;
+    } > XIP_RAM AT> XIP_RAM_STORE
+    __xip_ram_time_critical_text_source__ = LOADADDR(.xip_ram_time_critical_text);
+}
diff --git a/src/rp2_common/pico_standard_link/script_include/set_memory_locations.incl b/src/rp2_common/pico_standard_link/script_include/set_memory_locations.incl
index 54d68c88a..9e92524c4 100644
--- a/src/rp2_common/pico_standard_link/script_include/set_memory_locations.incl
+++ b/src/rp2_common/pico_standard_link/script_include/set_memory_locations.incl
@@ -24,4 +24,3 @@ SCRATCH_Y_ORIGIN = DEFINED(SCRATCH_Y_ORIGIN) ? SCRATCH_Y_ORIGIN : SCRATCH_Y_ORIG
 SCRATCH_Y_LENGTH = DEFINED(SCRATCH_Y_LENGTH) ? SCRATCH_Y_LENGTH : SCRATCH_Y_LENGTH_DEFAULT;
 XIP_RAM_ORIGIN = DEFINED(XIP_RAM_ORIGIN) ? XIP_RAM_ORIGIN : XIP_RAM_ORIGIN_DEFAULT;
 XIP_RAM_LENGTH = DEFINED(XIP_RAM_LENGTH) ? XIP_RAM_LENGTH : XIP_RAM_LENGTH_DEFAULT;
-
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 3b22ce491..e7bb50632 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -17,6 +17,7 @@ if (PICO_ON_DEVICE)
     add_subdirectory(cmsis_test)
     add_subdirectory(pico_sem_test)
     add_subdirectory(pico_sha256_test)
+    add_subdirectory(pico_xip_sram_test)
     add_subdirectory(pico_low_power_test)
     add_subdirectory(pico_async_context_test)
     add_subdirectory(pico_thread_local_test)
diff --git a/test/pico_xip_sram_test/BUILD.bazel b/test/pico_xip_sram_test/BUILD.bazel
new file mode 100644
index 000000000..ef9b49c8e
--- /dev/null
+++ b/test/pico_xip_sram_test/BUILD.bazel
@@ -0,0 +1,91 @@
+load("@rules_cc//cc:cc_binary.bzl", "cc_binary")
+load("@rules_cc//cc:cc_library.bzl", "cc_library")
+load("//bazel:defs.bzl", "compatible_with_rp2")
+load("//bazel/util:transition.bzl", "extra_copts_for_all_deps", "pico_set_binary_type", "pico_set_linker_script")
+
+package(default_visibility = ["//visibility:public"])
+
+alias(
+    name = "pico_critical_xip_sram_test_extra_link",
+    actual = select({
+        "//bazel/constraint:rp2040": "//bazel:empty_cc_lib",
+        "//conditions:default": "//src/rp2_common/hardware_riscv_platform_timer",
+    }),
+    visibility = ["//visibility:private"],
+)
+
+cc_binary(
+    name = "pico_critical_xip_sram_test_actual",
+    testonly = True,
+    srcs = ["pico_critical_xip_sram_test.c"],
+    tags = ["manual"],  # Built via pico_critical_xip_sram_test
+    deps = [
+        ":pico_critical_xip_sram_test_extra_link",
+        "//src/rp2_common/hardware_dma",
+        "//src/rp2_common/pico_multicore",
+        "//src/rp2_common/pico_stdlib",
+        "//test/pico_test",
+    ],
+)
+
+# pico_use_xip_sram_for_time_critical isn't implemented in Bazel, so manually
+# do that function with this linker script
+cc_library(
+    name = "pico_critical_xip_sram_test_linker_script",
+    # The order of the linker scripts below is important.
+    # Prevent buildifier from reordering them.
+    # buildifier: leave-alone
+    deps = [
+        "//test/pico_xip_sram_test/pico_critical_xip_sram_test_scripts",
+        "//src/rp2_common/pico_standard_link:default_linker_script",
+    ],
+)
+
+pico_set_binary_type(
+    name = "pico_critical_xip_sram_test_typed",
+    testonly = True,
+    src = ":pico_critical_xip_sram_test_actual",
+    binary_type = "copy_to_ram",
+    target_compatible_with = compatible_with_rp2(),
+)
+
+pico_set_linker_script(
+    name = "pico_critical_xip_sram_test_linked",
+    testonly = True,
+    src = ":pico_critical_xip_sram_test_typed",
+    linker_script = "//test/pico_xip_sram_test:pico_critical_xip_sram_test_linker_script",
+    target_compatible_with = compatible_with_rp2(),
+)
+
+extra_copts_for_all_deps(
+    name = "pico_critical_xip_sram_test",
+    testonly = True,
+    src = ":pico_critical_xip_sram_test_linked",
+    extra_copts = [
+        "-DPICO_TIME_CRITICAL_TEXT_IN_XIP_RAM=1",
+        "-DPICO_USE_XIP_CACHE_AS_RAM=1",
+    ],
+    target_compatible_with = compatible_with_rp2(),
+)
+
+# Currently doesn't fit, because bazel doesn't have a pico_minimize_runtime equivalent
+exports_files(["pico_xip_sram_test.c"])
+# cc_binary(
+#     name = "pico_xip_sram_test_actual",
+#     testonly = True,
+#     srcs = ["pico_xip_sram_test.c"],
+#     tags = ["manual"],  # Built via pico_xip_sram_test
+#     deps = [
+#         "//src/rp2_common/pico_stdlib",
+#         "//src/rp2_common/pico_multicore",
+#         "//src/rp2_common/hardware_dma",
+#     ],
+# )
+#
+# pico_set_binary_type(
+#     name = "pico_xip_sram_test",
+#     testonly = True,
+#     src = ":pico_xip_sram_test_actual",
+#     binary_type = "xip_ram",
+#     target_compatible_with = compatible_with_rp2() + incompatible_with_config("//bazel/constraint:rp2040"),
+# )
diff --git a/test/pico_xip_sram_test/CMakeLists.txt b/test/pico_xip_sram_test/CMakeLists.txt
new file mode 100644
index 000000000..165a9698c
--- /dev/null
+++ b/test/pico_xip_sram_test/CMakeLists.txt
@@ -0,0 +1,31 @@
+# Use XIP SRAM for time critical functions
+add_executable(pico_critical_xip_sram_test pico_critical_xip_sram_test.c)
+target_link_libraries(pico_critical_xip_sram_test PRIVATE pico_stdlib pico_multicore hardware_dma pico_test)
+if (NOT PICO_RP2040)
+    target_link_libraries(pico_critical_xip_sram_test PRIVATE hardware_riscv_platform_timer)
+endif()
+pico_set_binary_type(pico_critical_xip_sram_test copy_to_ram)
+pico_use_xip_sram_for_time_critical(pico_critical_xip_sram_test)
+pico_enable_stdio_usb(pico_critical_xip_sram_test 1) # test with USB as that invokes flash functions
+pico_add_extra_outputs(pico_critical_xip_sram_test)
+
+# Use XIP SRAM for time critical functions (no_flash build)
+add_executable(pico_critical_xip_sram_test_no_flash pico_critical_xip_sram_test.c)
+target_link_libraries(pico_critical_xip_sram_test_no_flash PRIVATE pico_stdlib pico_multicore hardware_dma pico_test)
+if (NOT PICO_RP2040)
+    target_link_libraries(pico_critical_xip_sram_test_no_flash PRIVATE hardware_riscv_platform_timer)
+endif()
+pico_set_binary_type(pico_critical_xip_sram_test_no_flash no_flash)
+pico_use_xip_sram_for_time_critical(pico_critical_xip_sram_test_no_flash)
+pico_enable_stdio_usb(pico_critical_xip_sram_test 1)
+pico_add_extra_outputs(pico_critical_xip_sram_test_no_flash)
+
+if (NOT PICO_RP2040 AND NOT PICO_C_COMPILER_IS_CLANG)
+    # XIP SRAM only binary, clang version is too big
+    add_executable(pico_xip_sram_test pico_xip_sram_test.c)
+    target_link_libraries(pico_xip_sram_test PRIVATE pico_stdlib)
+    pico_set_binary_type(pico_xip_sram_test xip_ram)
+    pico_minimize_runtime(pico_xip_sram_test INCLUDE PRINTF PRINTF_MINIMAL DEFAULT_ALARM_POOL PANIC FLOAT)
+    target_compile_definitions(pico_xip_sram_test PRIVATE PICO_HEAP_SIZE=0x200)
+    pico_add_extra_outputs(pico_xip_sram_test)
+endif()
\ No newline at end of file
diff --git a/test/pico_xip_sram_test/pico_critical_xip_sram_test.c b/test/pico_xip_sram_test/pico_critical_xip_sram_test.c
new file mode 100644
index 000000000..00c1c41ca
--- /dev/null
+++ b/test/pico_xip_sram_test/pico_critical_xip_sram_test.c
@@ -0,0 +1,182 @@
+#include <stdio.h>
+#include "pico/stdlib.h"
+#include "pico/test.h"
+#include "pico/multicore.h"
+#include "hardware/dma.h"
+#if PICO_RP2040
+#include "hardware/structs/systick.h"
+#else
+#include "hardware/riscv_platform_timer.h"
+#endif
+#include "hardware/structs/busctrl.h"
+
+
+PICOTEST_MODULE_NAME("XIP_SRAM", "critical xip sram test");
+
+
+int __time_critical_func(test_func_xip)(void) {
+#if PICO_RP2040
+    systick_hw->rvr = 0x00ffffff;
+    systick_hw->cvr = 0;
+#else
+    riscv_timer_set_mtimecmp(0xffffffffffffffff);
+    riscv_timer_set_mtime(0);
+#endif
+
+    volatile uint32_t i = 0;
+    i += 4;
+    i += i;
+    i += 7;
+    i += i;
+    i += i;
+
+#if PICO_RP2040
+    return systick_hw->rvr - systick_hw->cvr;
+#else
+    return riscv_timer_get_mtime();
+#endif
+}
+
+int __no_inline_not_in_flash_func(test_func_sram)(void) {
+#if PICO_RP2040
+    systick_hw->rvr = 0x00ffffff;
+    systick_hw->cvr = 0;
+#else
+    riscv_timer_set_mtimecmp(0xffffffffffffffff);
+    riscv_timer_set_mtime(0);
+#endif
+
+    volatile uint32_t i = 0;
+    i += 4;
+    i += i;
+    i += 7;
+    i += i;
+    i += i;
+
+#if PICO_RP2040
+    return systick_hw->rvr - systick_hw->cvr;
+#else
+    return riscv_timer_get_mtime();
+#endif
+}
+
+
+void core1_entry() {
+    // Just read memory from SRAM bank 0 repeatedly
+    // word-striped across 4 banks, so read every 16 bytes
+#ifndef __riscv
+    pico_default_asm_volatile(
+        "1:\n"
+        "ldr r0, =%c0\n"
+        "ldr r1, [r0, #0]\n"
+        "ldr r2, [r0, #16]\n"
+        "ldr r3, [r0, #32]\n"
+        "ldr r4, [r0, #48]\n"
+        "adds r0, #64\n"
+        "ldr r1, [r0, #0]\n"
+        "ldr r2, [r0, #16]\n"
+        "ldr r3, [r0, #32]\n"
+        "ldr r4, [r0, #48]\n"
+        "adds r0, #64\n"
+        "ldr r1, [r0, #0]\n"
+        "ldr r2, [r0, #16]\n"
+        "ldr r3, [r0, #32]\n"
+        "ldr r4, [r0, #48]\n"
+        "b 1b\n"
+        : : "i" (SRAM_BASE) : "r0", "r1", "r2", "r3", "r4"
+    );
+#else
+    pico_default_asm_volatile(
+        "1:\n"
+        "li a0, %0\n"
+        "lw a1, 0(a0)\n"
+        "lw a2, 16(a0)\n"
+        "lw a3, 32(a0)\n"
+        "lw a4, 48(a0)\n"
+        "addi a0, a0, 64\n"
+        "lw a1, 0(a0)\n"
+        "lw a2, 16(a0)\n"
+        "lw a3, 32(a0)\n"
+        "lw a4, 48(a0)\n"
+        "addi a0, a0, 64\n"
+        "lw a1, 0(a0)\n"
+        "lw a2, 16(a0)\n"
+        "lw a3, 32(a0)\n"
+        "lw a4, 48(a0)\n"
+        "j 1b\n"
+        : : "i" (SRAM_BASE) : "a0", "a1", "a2", "a3", "a4"
+    );
+#endif
+}
+
+
+void trigger_dma(void) {
+    int dat[8];
+    for (int i = 0; i < count_of(dat); i++) {
+        int chan = dma_claim_unused_channel(true);
+        dma_channel_config c = dma_channel_get_default_config(chan);
+        channel_config_set_transfer_data_size(&c, DMA_SIZE_32);
+        channel_config_set_read_increment(&c, true);
+        channel_config_set_write_increment(&c, true);
+        uint32_t from = SRAM_BASE;
+        uint32_t to = SRAM_BASE + ((SRAM4_BASE - SRAM_BASE) / 2);
+        uint32_t size = ((SRAM4_BASE - SRAM_BASE) / 2) / 4;
+        dma_channel_configure(chan, &c, (uint32_t*)to, (uint32_t*)from, dma_encode_transfer_count(size), true);
+        dat[i] = chan;
+    }
+    for (int i = 0; i < count_of(dat); i++) {
+        dma_channel_unclaim(dat[i]);
+    }
+}
+
+
+int main(void) {
+    stdio_init_all();
+    printf("pico_xip_sram_test begins\n");
+
+    PICOTEST_START();
+    
+    PICOTEST_START_SECTION("test_func_addresses")
+    printf("test_func_xip at %p\n", test_func_xip);
+    printf("test_func_sram at %p\n", test_func_sram);
+
+    PICOTEST_CHECK((uint32_t)test_func_xip >= XIP_SRAM_BASE && (uint32_t)test_func_xip < XIP_SRAM_END, "test_func_xip is not in XIP SRAM");
+    PICOTEST_CHECK((uint32_t)test_func_sram >= SRAM_STRIPED_BASE && (uint32_t)test_func_sram < SRAM4_BASE, "test_func_sram is not in SRAM 0-3");
+    PICOTEST_END_SECTION()
+
+    multicore_launch_core1(core1_entry);
+
+#if PICO_RP2040
+    systick_hw->csr = 0x4 | 0x1; // clock source and enable
+#else
+    riscv_timer_set_fullspeed(true);
+    riscv_timer_set_enabled(true);
+    riscv_timer_set_mtimecmp(0xffffffffffffffff);
+#endif
+
+    // Give core1 and DMA high priority
+    hw_set_bits(&busctrl_hw->priority, BUSCTRL_BUS_PRIORITY_PROC1_BITS | BUSCTRL_BUS_PRIORITY_DMA_R_BITS | BUSCTRL_BUS_PRIORITY_DMA_W_BITS);
+    hw_clear_bits(&busctrl_hw->priority, BUSCTRL_BUS_PRIORITY_PROC0_BITS);
+
+    PICOTEST_START_SECTION("test_func");
+    int test_func_xip_cycles = 0;
+    int test_func_sram_cycles = 0;
+    for (int i = 0; i < 5; i++) {
+        printf("running... %d\n", i);
+        trigger_dma();
+        int tmp = test_func_xip();
+        test_func_xip_cycles += tmp;
+        printf("test_func_xip: %d\n", tmp);
+        trigger_dma();
+        tmp = test_func_sram();
+        test_func_sram_cycles += tmp;
+        printf("test_func_sram: %d\n", tmp);
+        sleep_ms(500);
+    }
+
+    PICOTEST_CHECK(test_func_xip_cycles < test_func_sram_cycles, "test_func_xip took longer than test_func_sram");
+
+    PICOTEST_END_SECTION();
+
+    PICOTEST_END_TEST();
+}
diff --git a/test/pico_xip_sram_test/pico_critical_xip_sram_test_scripts/BUILD.bazel b/test/pico_xip_sram_test/pico_critical_xip_sram_test_scripts/BUILD.bazel
new file mode 100644
index 000000000..2132016fd
--- /dev/null
+++ b/test/pico_xip_sram_test/pico_critical_xip_sram_test_scripts/BUILD.bazel
@@ -0,0 +1,8 @@
+load("//bazel/util:pico_linker_scripts.bzl", "linker_scripts")
+
+package(default_visibility = ["//test/pico_xip_sram_test:__pkg__"])
+
+linker_scripts(
+    name = "pico_critical_xip_sram_test_scripts",
+    include_scripts = glob(["*.incl"]),
+)
diff --git a/test/pico_xip_sram_test/pico_critical_xip_sram_test_scripts/section_extra_post_text.incl b/test/pico_xip_sram_test/pico_critical_xip_sram_test_scripts/section_extra_post_text.incl
new file mode 100644
index 000000000..41fa5962b
--- /dev/null
+++ b/test/pico_xip_sram_test/pico_critical_xip_sram_test_scripts/section_extra_post_text.incl
@@ -0,0 +1 @@
+INCLUDE "section_time_critical_xip_ram_text.incl"
\ No newline at end of file
diff --git a/test/pico_xip_sram_test/pico_xip_sram_test.c b/test/pico_xip_sram_test/pico_xip_sram_test.c
new file mode 100644
index 000000000..aa3610843
--- /dev/null
+++ b/test/pico_xip_sram_test/pico_xip_sram_test.c
@@ -0,0 +1,16 @@
+#include <stdio.h>
+#include "pico/stdlib.h"
+
+
+int main(void) {
+    stdio_init_all();
+    printf("pico_xip_sram_test begins\n");
+
+    for (int i = 0; i < 5; i++) {
+        printf("running... %d\n", i);
+        sleep_ms(500);
+    }
+
+    printf("pico_xip_sram_test ends\n");
+    return 0;
+}
diff --git a/tools/bazel_build.py b/tools/bazel_build.py
index 45ffa41ef..b773a5442 100755
--- a/tools/bazel_build.py
+++ b/tools/bazel_build.py
@@ -59,6 +59,7 @@
                 "//test/pico_low_power_test:low_power_test_simple",
                 "//test/pico_low_power_test:external_sleep_timer",
                 "//test/pico_async_context_test:pico_async_context_test",
+                "//test/pico_xip_sram_test:pico_critical_xip_sram_test",
 
                 # Pretty much only Picotool and pioasm build on Windows.
                 "//..." if os.name == "nt" else "",