diff --git a/boards/arm/rp2040/common/.gitignore b/boards/arm/rp2040/common/.gitignore
new file mode 100644
index 0000000000000..cc92d189b53c2
--- /dev/null
+++ b/boards/arm/rp2040/common/.gitignore
@@ -0,0 +1,2 @@
+etctmp
+etctmp.c
diff --git a/boards/arm/rp2040/common/src/Make.defs b/boards/arm/rp2040/common/src/Make.defs
index 202a2a95abff0..4465a6cf58a1e 100644
--- a/boards/arm/rp2040/common/src/Make.defs
+++ b/boards/arm/rp2040/common/src/Make.defs
@@ -121,6 +121,12 @@ ifeq ($(CONFIG_ADC_ADS7046),y)
   CSRCS += rp2040_ads7046.c
 endif
 
+ifeq ($(CONFIG_ETC_ROMFS),y)
+ifeq ($(CONFIG_SYSTEM_NXINIT),y)
+  RCSRCS += etc/init.d/init.rc
+endif
+endif
+
 DEPPATH += --dep-path src
 VPATH += :src
 CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src
diff --git a/boards/arm/rp2040/common/src/etc/init.d/init.rc b/boards/arm/rp2040/common/src/etc/init.d/init.rc
new file mode 100644
index 0000000000000..ceae6adb72888
--- /dev/null
+++ b/boards/arm/rp2040/common/src/etc/init.d/init.rc
@@ -0,0 +1,37 @@
+/****************************************************************************
+ * boards/arm/rp2040/common/src/etc/init.d/init.rc
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifdef CONFIG_SYSTEM_NSH
+service console sh
+   console
+   restart_period 1000
+#endif
+
+on init
+#ifdef CONFIG_SYSTEM_CDCACM
+   exec -- sercon
+#endif
+#ifdef CONFIG_SYSTEM_NSH
+   start console
+#endif
diff --git a/boards/arm/rp2040/waveshare-rp2040-lcd-1.28/configs/nsh/defconfig b/boards/arm/rp2040/waveshare-rp2040-lcd-1.28/configs/nsh/defconfig
index 6e2bf325bed82..93670966e2717 100644
--- a/boards/arm/rp2040/waveshare-rp2040-lcd-1.28/configs/nsh/defconfig
+++ b/boards/arm/rp2040/waveshare-rp2040-lcd-1.28/configs/nsh/defconfig
@@ -24,10 +24,14 @@ CONFIG_BUILTIN=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DISABLE_POSIX_TIMERS=y
+CONFIG_ETC_ROMFS=y
 CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXPERIMENTAL=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_FS_ROMFS=y
+CONFIG_INIT_ENTRYPOINT="init_main"
+CONFIG_LIBC_EXECFUNCS=y
 CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_READLINE=y
@@ -35,12 +39,15 @@ CONFIG_RAM_SIZE=270336
 CONFIG_RAM_START=0x20000000
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_CHILD_STATUS=y
+CONFIG_SCHED_HAVE_PARENT=y
 CONFIG_SCHED_WAITPID=y
 CONFIG_START_DAY=9
 CONFIG_START_MONTH=2
 CONFIG_START_YEAR=2021
 CONFIG_SYSLOG_CONSOLE=y
 CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_NXINIT=y
 CONFIG_TESTING_GETPRIME=y
 CONFIG_TESTING_OSTEST=y
 CONFIG_UART0_SERIAL_CONSOLE=y
diff --git a/boards/arm/rp2040/waveshare-rp2040-lcd-1.28/configs/usbnsh/defconfig b/boards/arm/rp2040/waveshare-rp2040-lcd-1.28/configs/usbnsh/defconfig
index 1dde2375401ae..8cd68b77e1fcd 100644
--- a/boards/arm/rp2040/waveshare-rp2040-lcd-1.28/configs/usbnsh/defconfig
+++ b/boards/arm/rp2040/waveshare-rp2040-lcd-1.28/configs/usbnsh/defconfig
@@ -27,10 +27,14 @@ CONFIG_CDCACM_CONSOLE=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DISABLE_POSIX_TIMERS=y
+CONFIG_ETC_ROMFS=y
 CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXPERIMENTAL=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_FS_ROMFS=y
+CONFIG_INIT_ENTRYPOINT="init_main"
+CONFIG_LIBC_EXECFUNCS=y
 CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_READLINE=y
@@ -39,11 +43,15 @@ CONFIG_RAM_SIZE=270336
 CONFIG_RAM_START=0x20000000
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_CHILD_STATUS=y
+CONFIG_SCHED_HAVE_PARENT=y
 CONFIG_SCHED_WAITPID=y
 CONFIG_START_DAY=9
 CONFIG_START_MONTH=2
 CONFIG_START_YEAR=2021
+CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_NXINIT=y
 CONFIG_TESTING_GETPRIME=y
 CONFIG_TESTING_OSTEST=y
 CONFIG_USBDEV=y
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/configs/nsh/defconfig b/boards/arm/rp2040/waveshare-rp2040-zero/configs/nsh/defconfig
index 0758ad563063f..6a4353921e6cd 100644
--- a/boards/arm/rp2040/waveshare-rp2040-zero/configs/nsh/defconfig
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/configs/nsh/defconfig
@@ -24,10 +24,14 @@ CONFIG_BUILTIN=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DISABLE_POSIX_TIMERS=y
+CONFIG_ETC_ROMFS=y
 CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXPERIMENTAL=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_FS_ROMFS=y
+CONFIG_INIT_ENTRYPOINT="init_main"
+CONFIG_LIBC_EXECFUNCS=y
 CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_READLINE=y
@@ -35,12 +39,15 @@ CONFIG_RAM_SIZE=270336
 CONFIG_RAM_START=0x20000000
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_CHILD_STATUS=y
+CONFIG_SCHED_HAVE_PARENT=y
 CONFIG_SCHED_WAITPID=y
 CONFIG_START_DAY=9
 CONFIG_START_MONTH=2
 CONFIG_START_YEAR=2021
 CONFIG_SYSLOG_CONSOLE=y
 CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_NXINIT=y
 CONFIG_TESTING_GETPRIME=y
 CONFIG_TESTING_OSTEST=y
 CONFIG_UART0_SERIAL_CONSOLE=y
diff --git a/boards/arm/rp2040/waveshare-rp2040-zero/configs/usbnsh/defconfig b/boards/arm/rp2040/waveshare-rp2040-zero/configs/usbnsh/defconfig
index 260fc1d40b5ee..da1781b304c50 100644
--- a/boards/arm/rp2040/waveshare-rp2040-zero/configs/usbnsh/defconfig
+++ b/boards/arm/rp2040/waveshare-rp2040-zero/configs/usbnsh/defconfig
@@ -27,10 +27,14 @@ CONFIG_CDCACM_CONSOLE=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DISABLE_POSIX_TIMERS=y
+CONFIG_ETC_ROMFS=y
 CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXPERIMENTAL=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_FS_ROMFS=y
+CONFIG_INIT_ENTRYPOINT="init_main"
+CONFIG_LIBC_EXECFUNCS=y
 CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_READLINE=y
@@ -39,11 +43,15 @@ CONFIG_RAM_SIZE=270336
 CONFIG_RAM_START=0x20000000
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_CHILD_STATUS=y
+CONFIG_SCHED_HAVE_PARENT=y
 CONFIG_SCHED_WAITPID=y
 CONFIG_START_DAY=9
 CONFIG_START_MONTH=2
 CONFIG_START_YEAR=2021
+CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_NXINIT=y
 CONFIG_TESTING_GETPRIME=y
 CONFIG_TESTING_OSTEST=y
 CONFIG_USBDEV=y