diff --git a/.github/workflows/build_arm.yml b/.github/workflows/build_arm.yml
index 085274eb5..bec879a93 100644
--- a/.github/workflows/build_arm.yml
+++ b/.github/workflows/build_arm.yml
@@ -82,7 +82,7 @@ jobs:
       run: |
         git clone --depth 1 -b develop https://github.com/raspberrypi/pico-sdk ~/pico-sdk
         echo >> $GITHUB_ENV PICO_SDK_PATH=~/pico-sdk
-        git submodule update --init lib/Pico-PIO-USB
+        git submodule update --init hw/mcu/raspberry_pi/Pico-PIO-USB
 
     - name: Set Toolchain URL
       run: echo >> $GITHUB_ENV TOOLCHAIN_URL=https://github.com/xpack-dev-tools/arm-none-eabi-gcc-xpack/releases/download/v10.2.1-1.1/xpack-arm-none-eabi-gcc-10.2.1-1.1-linux-x64.tar.gz
diff --git a/.gitmodules b/.gitmodules
index 21bbf08c0..044ac24ec 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -146,3 +146,6 @@
 [submodule "hw/mcu/allwinner"]
 	path = hw/mcu/allwinner
 	url = https://github.com/hathach/allwinner_driver.git
+[submodule "hw/mcu/raspberry_pi/Pico-PIO-USB"]
+	path = hw/mcu/raspberry_pi/Pico-PIO-USB
+	url = https://github.com/sekigon-gonnoc/Pico-PIO-USB.git
diff --git a/hw/bsp/rp2040/family.cmake b/hw/bsp/rp2040/family.cmake
index f52274c15..17ae3de9b 100644
--- a/hw/bsp/rp2040/family.cmake
+++ b/hw/bsp/rp2040/family.cmake
@@ -63,15 +63,19 @@ if (NOT TARGET _rp2040_family_inclusion_marker)
   #------------------------------------
   add_library(pico_pio_usb INTERFACE)
 
+  if (NOT DEFINED PICO_PIO_USB_PATH)
+    set(PICO_PIO_USB_PATH "${TOP}/hw/mcu/raspberry_pi/Pico-PIO-USB")
+  endif()
+
 	target_sources(pico_pio_usb INTERFACE
-			${TOP}/lib/Pico-PIO-USB/src/pio_usb.c
-			${TOP}/lib/Pico-PIO-USB/src/pio_usb_host.c
-			${TOP}/lib/Pico-PIO-USB/src/pio_usb_device.c
-			${TOP}/lib/Pico-PIO-USB/src/usb_crc.c
+			${PICO_PIO_USB_PATH}/src/pio_usb.c
+			${PICO_PIO_USB_PATH}/src/pio_usb_host.c
+			${PICO_PIO_USB_PATH}/src/pio_usb_device.c
+			${PICO_PIO_USB_PATH}/src/usb_crc.c
 			)
 
 	target_include_directories(pico_pio_usb INTERFACE
-			${TOP}/lib/Pico-PIO-USB/src
+			${PICO_PIO_USB_PATH}/src
 			)
 
 	target_link_libraries(pico_pio_usb INTERFACE
@@ -188,8 +192,8 @@ if (NOT TARGET _rp2040_family_inclusion_marker)
 	function(family_configure_pico_pio_usb_example TARGET)
 		family_configure_target(${TARGET})
 		target_link_libraries(${TARGET} PUBLIC pico_stdlib pico_pio_usb)
-    pico_generate_pio_header(tinyusb_common_base ${TOP}/lib/Pico-PIO-USB/src/usb_tx.pio)
-    pico_generate_pio_header(tinyusb_common_base ${TOP}/lib/Pico-PIO-USB/src/usb_rx.pio)
+    pico_generate_pio_header(tinyusb_common_base ${PICO_PIO_USB_PATH}/src/usb_tx.pio)
+    pico_generate_pio_header(tinyusb_common_base ${PICO_PIO_USB_PATH}/src/usb_rx.pio)
 	endfunction()
 
 	function(family_initialize_project PROJECT DIR)
diff --git a/hw/mcu/raspberry_pi/Pico-PIO-USB b/hw/mcu/raspberry_pi/Pico-PIO-USB
new file mode 160000
index 000000000..2a9fefd6c
--- /dev/null
+++ b/hw/mcu/raspberry_pi/Pico-PIO-USB
@@ -0,0 +1 @@
+Subproject commit 2a9fefd6ccf42e5d8570ae83fdc54c9c875ebdd1