diff --git a/bazel/README.md b/bazel/README.md
index 6409cf4..1db0c93 100644
--- a/bazel/README.md
+++ b/bazel/README.md
@@ -71,8 +71,9 @@
 
 If you have a bespoke board definition, you can configure the Pico SDK to use it
 by pointing `--@pico-sdk//bazel/config:PICO_CONFIG_HEADER` to a `cc_library`
-that defines `PICO_BOARD` and `PICO_CONFIG_HEADER`, also providing any necessary
-`includes`.
+that defines `PICO_BOARD` and either a `PICO_CONFIG_HEADER` define or a
+`pico/config_autogen.h` header. Make sure any required `includes`, `hdrs`, and
+`deps` are also provided.
 
 ## Generating UF2 firmware images
 Creation of UF2 images can be done as explicit build steps on a per-binary
diff --git a/bazel/config/BUILD.bazel b/bazel/config/BUILD.bazel
index 88dc5d3..50530ec 100644
--- a/bazel/config/BUILD.bazel
+++ b/bazel/config/BUILD.bazel
@@ -128,13 +128,13 @@
     build_setting_default = "//bazel:no_extra_headers",
 )
 
-# PICO_BAZEL_CONFIG: PICO_CONFIG_PLATFORM_HEADER, [Bazel only] The cc_library that provides "pico_config_platform_headers.h", default=//src/common/pico_base:default_platform_headers, group=pico_base
+# PICO_BAZEL_CONFIG: PICO_CONFIG_PLATFORM_HEADER, [Bazel only] The cc_library that provides "pico_config_platform_headers.h" and defines PICO_BOARD, default=//src/common/pico_base:default_platform_headers, group=pico_base
 label_flag(
     name = "PICO_CONFIG_PLATFORM_HEADER",
     build_setting_default = "//src/boards:default",
 )
 
-# PICO_BAZEL_CONFIG: PICO_CONFIG_HEADER, [Bazel only] The cc_library that defines PICO_BOARD, PICO_CONFIG_HEADER, and other SDK critical defines (overrides PICO_BOARD setting), default=//bazel:generate_config_header, group=pico_base
+# PICO_BAZEL_CONFIG: PICO_CONFIG_HEADER, [Bazel only] The cc_library that defines PICO_CONFIG_HEADER or pico/config_autogen.h and other SDK critical defines (overrides PICO_BOARD setting), default=//bazel:generate_config_header, group=pico_base
 label_flag(
     name = "PICO_CONFIG_HEADER",
     build_setting_default = "//bazel:generate_config_header",
diff --git a/src/common/pico_base/BUILD.bazel b/src/common/pico_base/BUILD.bazel
index 73fd1f2..4204efd 100644
--- a/src/common/pico_base/BUILD.bazel
+++ b/src/common/pico_base/BUILD.bazel
@@ -133,7 +133,6 @@
     deps = [
         ":common_sdk_defines",
         ":version",
-        "//bazel:generate_config_header",
         "//bazel/config:PICO_CONFIG_HEADER",
     ],
 )