diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 4d1d4ed..9afe32d 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -7,44 +7,40 @@ on:
     types:
       - created
 
+env:
+  PICO_SDK_PATH: ${{ github.workspace }}/pico-sdk
+
 jobs:
   build:
+    strategy:
+      fail-fast: false
+      matrix:
+        sdk_version:
+          - '2.0.0'
+          - '1.5.1'
     runs-on: ubuntu-latest
     steps:
-    - name: Setup Python
-      uses: actions/setup-python@v3
+    - name: Install ARM GCC
+      uses: carlosperate/arm-none-eabi-gcc-action@v1
+      with:
+        release: '12.3.Rel1'
 
     - name: Checkout
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
 
     - name: Checkout pico-sdk
-      run: |
-        git clone --depth 1 -b develop https://github.com/raspberrypi/pico-sdk ~/pico-sdk
-        echo >> $GITHUB_ENV PICO_SDK_PATH=~/pico-sdk
-        # checkout tinyusb in pico-sdk and switch to PR branch
-        git -C ~/pico-sdk submodule update --init
-        git -C ~/pico-sdk/lib/tinyusb fetch
-        git -C ~/pico-sdk/lib/tinyusb checkout master
-
-    - 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
-
-    - name: Cache Toolchain
-      uses: actions/cache@v3
-      id: cache-toolchain
+      uses: actions/checkout@v4
       with:
-        path: ~/cache/
-        key: ${{ runner.os }}-22-05-05-${{ env.TOOLCHAIN_URL }}
+        repository: raspberrypi/pico-sdk
+        ref: ${{ matrix.sdk_version }}
+        path: pico-sdk
 
-    - name: Install Toolchain
-      if: steps.cache-toolchain.outputs.cache-hit != 'true'
+    - name: Checkout TinyUSB
       run: |
-        mkdir -p ~/cache/toolchain
-        wget --progress=dot:mega $TOOLCHAIN_URL -O toolchain.tar.gz
-        tar -C ~/cache/toolchain -xaf toolchain.tar.gz
-
-    - name: Set Toolchain Path
-      run: echo >> $GITHUB_PATH `echo ~/cache/toolchain/*/bin`
+        # checkout tinyusb in pico-sdk and switch to master branch
+        git -C $PICO_SDK_PATH submodule update --init
+        git -C $PICO_SDK_PATH/lib/tinyusb fetch
+        git -C $PICO_SDK_PATH/lib/tinyusb checkout master
 
     - name: Build
       run: |
@@ -54,9 +50,9 @@ jobs:
         cmake ..
         make
 
-    - uses: actions/upload-artifact@v3
+    - uses: actions/upload-artifact@v4
       with:
-        name: example_binaries
+        name: example_binaries-sdk-${{ matrix.sdk_version }}
         path: |
           examples/build/usb_device/usb_device.uf2
           examples/build/usb_device/usb_device.hex
diff --git a/.github/workflows/build_arduino.yml b/.github/workflows/build_arduino.yml
index f43f3e2..60953db 100644
--- a/.github/workflows/build_arduino.yml
+++ b/.github/workflows/build_arduino.yml
@@ -18,11 +18,8 @@ jobs:
 
     runs-on: ubuntu-latest
     steps:
-    - name: Setup Python
-      uses: actions/setup-python@v3
-
     - name: Checkout
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
 
     - name: Install Arduino CLI
       run: |
diff --git a/examples/capture_hid_report/capture_hid_report.c b/examples/capture_hid_report/capture_hid_report.c
index 8eb4c61..e0927b6 100644
--- a/examples/capture_hid_report/capture_hid_report.c
+++ b/examples/capture_hid_report/capture_hid_report.c
@@ -2,6 +2,7 @@
 #include <stdio.h>
 #include <string.h>
 
+#include "hardware/clocks.h"
 #include "pico/stdlib.h"
 #include "pico/multicore.h"
 #include "pico/bootrom.h"
diff --git a/examples/host_hid_to_device_cdc/host_hid_to_device_cdc.c b/examples/host_hid_to_device_cdc/host_hid_to_device_cdc.c
index d7e4d1e..7f717bd 100644
--- a/examples/host_hid_to_device_cdc/host_hid_to_device_cdc.c
+++ b/examples/host_hid_to_device_cdc/host_hid_to_device_cdc.c
@@ -33,6 +33,7 @@
 #include <stdio.h>
 #include <string.h>
 
+#include "hardware/clocks.h"
 #include "pico/stdlib.h"
 #include "pico/multicore.h"
 #include "pico/bootrom.h"
diff --git a/examples/test_ll/test_ll.c b/examples/test_ll/test_ll.c
index 522cd0d..5ad402a 100644
--- a/examples/test_ll/test_ll.c
+++ b/examples/test_ll/test_ll.c
@@ -3,6 +3,7 @@
 #include <string.h>
 #include <strings.h>
 
+#include "hardware/clocks.h"
 #include "hardware/gpio.h"
 #include "hardware/sync.h"
 #include "pico/stdlib.h"
diff --git a/examples/usb_device/usb_device.c b/examples/usb_device/usb_device.c
index fd94735..bcd53f3 100644
--- a/examples/usb_device/usb_device.c
+++ b/examples/usb_device/usb_device.c
@@ -3,6 +3,7 @@
 #include <stdio.h>
 #include <string.h>
 
+#include "hardware/clocks.h"
 #include "pico/stdlib.h"
 #include "pico/multicore.h"
 #include "pico/bootrom.h"
diff --git a/src/usb_rx.pio b/src/usb_rx.pio
index 04514a8..76e6fbe 100644
--- a/src/usb_rx.pio
+++ b/src/usb_rx.pio
@@ -156,11 +156,13 @@ J2:
 % c-sdk {
 #include "hardware/clocks.h"
 
+#if PICO_SDK_VERSION_MAJOR < 2
 static __always_inline void pio_sm_set_jmp_pin(PIO pio, uint sm, uint jmp_pin) {
   pio->sm[sm].execctrl =
       (pio->sm[sm].execctrl & ~PIO_SM0_EXECCTRL_JMP_PIN_BITS) |
       (jmp_pin << PIO_SM0_EXECCTRL_JMP_PIN_LSB);
 }
+#endif
 
 static inline void usb_rx_fs_program_init(PIO pio, uint sm, uint offset, uint pin_dp, uint pin_dm, int pin_debug) {
   if (pin_dp < pin_dm) {
diff --git a/src/usb_rx.pio.h b/src/usb_rx.pio.h
index 33638cf..4beaa35 100644
--- a/src/usb_rx.pio.h
+++ b/src/usb_rx.pio.h
@@ -173,11 +173,13 @@ static inline pio_sm_config usb_nrzi_decoder_debug_program_get_default_config(ui
 }
 
 #include "hardware/clocks.h"
+#if PICO_SDK_VERSION_MAJOR < 2
 static __always_inline void pio_sm_set_jmp_pin(PIO pio, uint sm, uint jmp_pin) {
   pio->sm[sm].execctrl =
       (pio->sm[sm].execctrl & ~PIO_SM0_EXECCTRL_JMP_PIN_BITS) |
       (jmp_pin << PIO_SM0_EXECCTRL_JMP_PIN_LSB);
 }
+#endif
 static inline void usb_rx_fs_program_init(PIO pio, uint sm, uint offset, uint pin_dp, uint pin_dm, int pin_debug) {
   if (pin_dp < pin_dm) {
     pio_sm_set_consecutive_pindirs(pio, sm, pin_dp, 2, false);