diff --git a/drivers/gpio/gpio_rpi_pico.c b/drivers/gpio/gpio_rpi_pico.c
index e6c9cbcabaf..41ed8e64ecb 100644
--- a/drivers/gpio/gpio_rpi_pico.c
+++ b/drivers/gpio/gpio_rpi_pico.c
@@ -29,32 +29,52 @@ struct gpio_rpi_data {
 	struct gpio_driver_data common;
 	sys_slist_t callbacks;
 	uint32_t int_enabled_mask;
+	uint32_t single_ended_mask;
+	uint32_t open_drain_mask;
 };
 
 static int gpio_rpi_configure(const struct device *dev,
 				gpio_pin_t pin,
 				gpio_flags_t flags)
 {
-	if (flags & GPIO_SINGLE_ENDED) {
-		return -ENOTSUP;
-	}
+	struct gpio_rpi_data *data = dev->data;
+
+	gpio_set_pulls(pin,
+		(flags & GPIO_PULL_UP) != 0U,
+		(flags & GPIO_PULL_DOWN) != 0U);
 
 	/* Avoid gpio_init, since that also clears previously set direction/high/low */
 	gpio_set_function(pin, GPIO_FUNC_SIO);
 
 	if (flags & GPIO_OUTPUT) {
-		gpio_set_dir(pin, GPIO_OUT);
+		if (flags & GPIO_SINGLE_ENDED) {
+			data->single_ended_mask |= BIT(pin);
 
-		if (flags & GPIO_OUTPUT_INIT_HIGH) {
-			gpio_put(pin, 1);
-		} else if (flags & GPIO_OUTPUT_INIT_LOW) {
-			gpio_put(pin, 0);
+			/* Setting the initial state of output data, and output enable.
+			 * The output data will not change from here on, only output
+			 * enable will. If none of the GPIO_OUTPUT_INIT_* flags have
+			 * been set then fall back to the non-agressive input mode.
+			 */
+			if (flags & GPIO_LINE_OPEN_DRAIN) {
+				data->open_drain_mask |= BIT(pin);
+				gpio_put(pin, 0);
+				gpio_set_dir(pin, flags & GPIO_OUTPUT_INIT_LOW);
+			} else {
+				data->open_drain_mask &= ~(BIT(pin));
+				gpio_put(pin, 1);
+				gpio_set_dir(pin, flags & GPIO_OUTPUT_INIT_HIGH);
+			}
+		} else {
+			data->single_ended_mask &= ~(BIT(pin));
+			if (flags & GPIO_OUTPUT_INIT_HIGH) {
+				gpio_put(pin, 1);
+			} else if (flags & GPIO_OUTPUT_INIT_LOW) {
+				gpio_put(pin, 0);
+			}
+			gpio_set_dir(pin, GPIO_OUT);
 		}
 	} else if (flags & GPIO_INPUT) {
 		gpio_set_dir(pin, GPIO_IN);
-		gpio_set_pulls(pin,
-			(flags & GPIO_PULL_UP) != 0U,
-			(flags & GPIO_PULL_DOWN) != 0U);
 	}
 
 	return 0;
@@ -69,28 +89,53 @@ static int gpio_rpi_port_get_raw(const struct device *dev, uint32_t *value)
 static int gpio_rpi_port_set_masked_raw(const struct device *port,
 					uint32_t mask, uint32_t value)
 {
-	gpio_put_masked(mask, value);
+	struct gpio_rpi_data *data = port->data;
+	/* First handle push-pull pins: */
+	gpio_put_masked(mask & ~data->single_ended_mask, value);
+	/* Then handle open-drain pins: */
+	gpio_set_dir_masked(mask & data->single_ended_mask & data->open_drain_mask, ~value);
+	/* Then handle open-source pins: */
+	gpio_set_dir_masked(mask & data->single_ended_mask & ~data->open_drain_mask, value);
 	return 0;
 }
 
 static int gpio_rpi_port_set_bits_raw(const struct device *port,
 					uint32_t pins)
 {
-	gpio_set_mask(pins);
+	struct gpio_rpi_data *data = port->data;
+	/* First handle push-pull pins: */
+	gpio_set_mask(pins & ~data->single_ended_mask);
+	/* Then handle open-drain pins: */
+	gpio_set_dir_in_masked(pins & data->single_ended_mask & data->open_drain_mask);
+	/* Then handle open-source pins: */
+	gpio_set_dir_out_masked(pins & data->single_ended_mask & ~data->open_drain_mask);
 	return 0;
 }
 
 static int gpio_rpi_port_clear_bits_raw(const struct device *port,
 					uint32_t pins)
 {
-	gpio_clr_mask(pins);
+	struct gpio_rpi_data *data = port->data;
+	/* First handle push-pull pins: */
+	gpio_clr_mask(pins & ~data->single_ended_mask);
+	/* Then handle open-drain pins: */
+	gpio_set_dir_out_masked(pins & data->single_ended_mask & data->open_drain_mask);
+	/* Then handle open-source pins: */
+	gpio_set_dir_in_masked(pins & data->single_ended_mask & ~data->open_drain_mask);
 	return 0;
 }
 
 static int gpio_rpi_port_toggle_bits(const struct device *port,
 					uint32_t pins)
 {
-	gpio_xor_mask(pins);
+	struct gpio_rpi_data *data = port->data;
+	/* First handle push-pull pins: */
+	gpio_xor_mask(pins & ~data->single_ended_mask);
+	/* Then handle single-ended pins: */
+	/* (unfortunately there's no pico-sdk api call that can be used for this,
+	 * but it's possible by accessing the registers directly)
+	 */
+	sio_hw->gpio_oe_togl = (pins & data->single_ended_mask);
 	return 0;
 }