diff --git a/src/common/pico_base/include/pico.h b/src/common/pico_base/include/pico.h
index 1b73651..784566e 100644
--- a/src/common/pico_base/include/pico.h
+++ b/src/common/pico_base/include/pico.h
@@ -16,9 +16,18 @@
  * This header may be included by assembly code
 */
 
+#define	__PICO_STRING(x)	#x
+#define	__PICO_XSTRING(x)	__PICO_STRING(x)
+
 #include "pico/types.h"
 #include "pico/version.h"
+
+// PICO_CONFIG: PICO_CONFIG_HEADER, unquoted path to header include in place of the default pico/config.h which may be desirable for build systems which can't easily generate the config_autogen header, group=pico_base
+#ifdef PICO_CONFIG_HEADER
+#include __PICO_XSTRING(PICO_CONFIG_HEADER)
+#else
 #include "pico/config.h"
+#endif
 #include "pico/platform.h"
 #include "pico/error.h"
 
diff --git a/src/common/pico_base/include/pico/config.h b/src/common/pico_base/include/pico/config.h
index 8d69269..10a9c6a 100644
--- a/src/common/pico_base/include/pico/config.h
+++ b/src/common/pico_base/include/pico/config.h
@@ -18,4 +18,9 @@
 
 #include "pico/config_autogen.h"
 
-#endif
\ No newline at end of file
+// PICO_CONFIG: PICO_CONFIG_RTOS_ADAPTER_HEADER, unquoted path to header include in the default pico/config.h for RTOS integration defines that must be included in all sources, group=pico_base
+#ifdef PICO_CONFIG_RTOS_ADAPTER_HEADER
+#include __PICO_XSTRING(PICO_CONFIG_RTOS_ADAPTER_HEADER)
+#endif
+
+#endif
diff --git a/src/common/pico_base/include/pico/error.h b/src/common/pico_base/include/pico/error.h
index fadb45e..a5cbc39 100644
--- a/src/common/pico_base/include/pico/error.h
+++ b/src/common/pico_base/include/pico/error.h
@@ -10,14 +10,18 @@
 #ifndef __ASSEMBLER__
 
 /*!
- * Common return codes from pico_sdk methods that return a status
+ * \brief Common return codes from pico_sdk methods that return a status
+ * \ingroup pico_base
  */
-enum {
+enum pico_error_codes {
     PICO_OK = 0,
     PICO_ERROR_NONE = 0,
     PICO_ERROR_TIMEOUT = -1,
     PICO_ERROR_GENERIC = -2,
     PICO_ERROR_NO_DATA = -3,
+    PICO_ERROR_NOT_PERMITTED = -4,
+    PICO_ERROR_INVALID_ARG = -5,
+    PICO_ERROR_IO = -6,
 };
 
 #endif // !__ASSEMBLER__