diff --git a/os/hal/ports/RP/LLD/USBDv1/hal_usb_lld.c b/os/hal/ports/RP/LLD/USBDv1/hal_usb_lld.c
index 24d06e80..c0da9c32 100644
--- a/os/hal/ports/RP/LLD/USBDv1/hal_usb_lld.c
+++ b/os/hal/ports/RP/LLD/USBDv1/hal_usb_lld.c
@@ -83,7 +83,7 @@ void data_send(uint32_t data) {
 /**
  * @brief   USB1 driver identifier.
  */
-#if (RP_USB_USE_USBD1 == TRUE) || defined(__DOXYGEN__)
+#if (RP_USB_USE_USBD0 == TRUE) || defined(__DOXYGEN__)
 USBDriver USBD1;
 #endif
 
@@ -424,7 +424,7 @@ static void usb_serve_endpoint(USBDriver *usbp, usbep_t ep, bool is_in) {
 /* Driver interrupt handlers and threads.                                    */
 /*===========================================================================*/
 
-#if RP_USB_USE_USBD1 || defined(__DOXYGEN__)
+#if RP_USB_USE_USBD0 || defined(__DOXYGEN__)
 
 /**
  * @brief   USB low priority interrupt handler.
@@ -524,7 +524,7 @@ OSAL_IRQ_HANDLER(RP_USBCTRL_IRQ_HANDLER) {
   OSAL_IRQ_EPILOGUE();
 }
 
-#endif /* RP_USB_USE_USBD1 */
+#endif /* RP_USB_USE_USBD0 */
 
 /*===========================================================================*/
 /* Driver exported functions.                                                */
@@ -536,7 +536,7 @@ OSAL_IRQ_HANDLER(RP_USBCTRL_IRQ_HANDLER) {
  * @notapi
  */
 void usb_lld_init(void) {
-#if RP_USB_USE_USBD1 == TRUE
+#if RP_USB_USE_USBD0 == TRUE
   /* Driver initialization.*/
   usbObjectInit(&USBD1);
 
@@ -553,7 +553,7 @@ void usb_lld_init(void) {
  * @notapi
  */
 void usb_lld_start(USBDriver *usbp) {
-#if RP_USB_USE_USBD1 == TRUE
+#if RP_USB_USE_USBD0 == TRUE
 #ifdef USB_DEBUG
   chMtxObjectInit(&cmtx);
 #endif
@@ -606,7 +606,7 @@ void usb_lld_start(USBDriver *usbp) {
 #endif /* RP_USB_USE_SOF_INTR */
 
       /* Enable USB interrupt. */
-      nvicEnableVector(RP_USBCTRL_IRQ_NUMBER, 2);
+      nvicEnableVector(RP_USBCTRL_IRQ_NUMBER, RP_IRQ_USB0_PRIORITY);
 
       /* Present full speed device by enabling pull up on DP */
       USB->SET.SIECTRL = USB_SIE_CTRL_PULLUP_EN;
@@ -623,7 +623,7 @@ void usb_lld_start(USBDriver *usbp) {
  * @notapi
  */
 void usb_lld_stop(USBDriver *usbp) {
-#if RP_USB_USE_USBD1 == TRUE
+#if RP_USB_USE_USBD0 == TRUE
   if (&USBD1 == usbp) {
     if (usbp->state == USB_READY) {
       /* Disable interrupt */
diff --git a/os/hal/ports/RP/LLD/USBDv1/hal_usb_lld.h b/os/hal/ports/RP/LLD/USBDv1/hal_usb_lld.h
index c6256525..fa811f6a 100644
--- a/os/hal/ports/RP/LLD/USBDv1/hal_usb_lld.h
+++ b/os/hal/ports/RP/LLD/USBDv1/hal_usb_lld.h
@@ -60,8 +60,8 @@
 /**
  * @brief USBD1 driver enable switch.
  */
-#if !defined(RP_USB_USE_USBD1) || defined(__DOXYGEN__)
-#define RP_USB_USE_USBD1                    FALSE
+#if !defined(RP_USB_USE_USBD0) || defined(__DOXYGEN__)
+#define RP_USB_USE_USBD0                    FALSE
 #endif
 
 /**
@@ -103,6 +103,10 @@ extern bool usb_vbus_detect(void);
 #define RP_USB_USE_ERROR_DATA_SEQ_INTR      FALSE
 #endif
 
+#if !defined(RP_IRQ_USB0_PRIORITY)
+#error "RP_IRQ_USB0_PRIORITY not defined in mcuconf.h"
+#endif
+
 /*===========================================================================*/
 /* Driver data structures and types.                                         */
 /*===========================================================================*/
@@ -441,7 +445,7 @@ struct USBDriver {
 /* External declarations.                                                    */
 /*===========================================================================*/
 
-#if RP_USB_USE_USBD1 && !defined(__DOXYGEN__)
+#if RP_USB_USE_USBD0 && !defined(__DOXYGEN__)
 extern USBDriver USBD1;
 #endif
 
diff --git a/testhal/RP/RP2040/RT-RP2040-PICO-HID/cfg/mcuconf.h b/testhal/RP/RP2040/RT-RP2040-PICO-HID/cfg/mcuconf.h
index 44190602..cc76e866 100644
--- a/testhal/RP/RP2040/RT-RP2040-PICO-HID/cfg/mcuconf.h
+++ b/testhal/RP/RP2040/RT-RP2040-PICO-HID/cfg/mcuconf.h
@@ -50,6 +50,7 @@
 #define RP_IRQ_UART1_PRIORITY               3
 #define RP_IRQ_SPI0_PRIORITY                2
 #define RP_IRQ_SPI1_PRIORITY                2
+#define RP_IRQ_USB0_PRIORITY                2
 
 /*
  * SIO driver system settings.
@@ -73,7 +74,7 @@
 /*
  * USB driver system settings.
  */
-#define RP_USB_USE_USBD1                    TRUE
+#define RP_USB_USE_USBD0                    TRUE
 #define RP_USB_FORCE_VBUS_DETECT            TRUE
 #define RP_USE_EXTERNAL_VBUS_DETECT         FALSE
 #define RP_USB_USE_SOF_INTR                 FALSE
diff --git a/testhal/RP/RP2040/RT-RP2040-PICO-SERIAL/cfg/mcuconf.h b/testhal/RP/RP2040/RT-RP2040-PICO-SERIAL/cfg/mcuconf.h
index f151ecd2..31a61fcd 100644
--- a/testhal/RP/RP2040/RT-RP2040-PICO-SERIAL/cfg/mcuconf.h
+++ b/testhal/RP/RP2040/RT-RP2040-PICO-SERIAL/cfg/mcuconf.h
@@ -50,6 +50,7 @@
 #define RP_IRQ_UART1_PRIORITY               3
 #define RP_IRQ_SPI0_PRIORITY                2
 #define RP_IRQ_SPI1_PRIORITY                2
+#define RP_IRQ_USB0_PRIORITY                2
 
 /*
  * SIO driver system settings.
@@ -73,7 +74,7 @@
 /*
  * USB driver system settings.
  */
-#define RP_USB_USE_USBD1                    TRUE
+#define RP_USB_USE_USBD0                    TRUE
 #define RP_USB_FORCE_VBUS_DETECT            TRUE
 #define RP_USE_EXTERNAL_VBUS_DETECT         FALSE
 #define RP_USB_USE_SOF_INTR                 TRUE