GP2040-CE is a gamepad firmware for the Raspberry Pi Pico and other boards based on the RP2040 microcontroller, and provides high performance with a rich feature set across multiple platforms. GP2040-CE is compatible with PC, MiSTer, Android, Raspberry Pi, Nintendo Switch, PS3 and PS4 (legacy controller support).

https://blog.adafruit.com/2023/03/17/gp2040-ce-gamepad-firmware-for-the-raspberry-pi-pico-gaming-rp2040-piday-raspberry_pi-hackaday/

https://github.com/FeralAI/GP2040