3 files changed, 176 insertions, 4 deletions

diff --git a/embassy-rp/CHANGELOG.md b/embassy-rp/CHANGELOG.md
index ebdc3e1c8..b50d41dd1 100644
--- a/embassy-rp/CHANGELOG.md
+++ b/embassy-rp/CHANGELOG.md
@@ -8,6 +8,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 <!-- next-header -->
 ## Unreleased - ReleaseDate
 
+- Add PIO SPI
+- Add PIO I2S input
+
 ## 0.8.0 - 2025-08-26
 
 ## 0.7.1 - 2025-08-26
diff --git a/embassy-rp/src/pio_programs/i2s.rs b/embassy-rp/src/pio_programs/i2s.rs
index 7ceed3fa6..2382a3f9f 100644
--- a/embassy-rp/src/pio_programs/i2s.rs
+++ b/embassy-rp/src/pio_programs/i2s.rs
@@ -1,13 +1,101 @@
-//! Pio backed I2s output
+//! Pio backed I2s output and output drivers
 
 use fixed::traits::ToFixed;
 
 use crate::dma::{AnyChannel, Channel, Transfer};
+use crate::gpio::Pull;
 use crate::pio::{
     Common, Config, Direction, FifoJoin, Instance, LoadedProgram, PioPin, ShiftConfig, ShiftDirection, StateMachine,
 };
 use crate::Peri;
 
+/// This struct represents an i2s receiver & controller driver program
+pub struct PioI2sInProgram<'d, PIO: Instance> {
+    prg: LoadedProgram<'d, PIO>,
+}
+
+impl<'d, PIO: Instance> PioI2sInProgram<'d, PIO> {
+    /// Load the input program into the given pio
+    pub fn new(common: &mut Common<'d, PIO>) -> Self {
+        let prg = pio::pio_asm! {
+            ".side_set 2",
+            "   set x, 14               side 0b01",
+            "left_data:",
+            "   in pins, 1              side 0b00", // read one left-channel bit from SD
+            "   jmp x-- left_data       side 0b01",
+            "   in pins, 1              side 0b10", // ws changes 1 clock before MSB
+            "   set x, 14               side 0b11",
+            "right_data:",
+            "   in pins, 1             side 0b10",
+            "   jmp x-- right_data     side 0b11",
+            "   in pins, 1             side 0b00" // ws changes 1 clock before ms
+        };
+        let prg = common.load_program(&prg.program);
+        Self { prg }
+    }
+}
+
+/// Pio backed I2s input driver
+pub struct PioI2sIn<'d, P: Instance, const S: usize> {
+    dma: Peri<'d, AnyChannel>,
+    sm: StateMachine<'d, P, S>,
+}
+
+impl<'d, P: Instance, const S: usize> PioI2sIn<'d, P, S> {
+    /// Configure a state machine to act as both the controller (provider of SCK and WS) and receiver (of SD) for an I2S signal
+    pub fn new(
+        common: &mut Common<'d, P>,
+        mut sm: StateMachine<'d, P, S>,
+        dma: Peri<'d, impl Channel>,
+        // Whether or not to use the MCU's internal pull-down resistor, as the
+        // Pico 2 is known to have problems with the inbuilt pulldowns, many
+        // opt to just use an external pull down resistor to meet requirements of common
+        // i2s microphones such as the INMP441
+        data_pulldown: bool,
+        data_pin: Peri<'d, impl PioPin>,
+        bit_clock_pin: Peri<'d, impl PioPin>,
+        lr_clock_pin: Peri<'d, impl PioPin>,
+        sample_rate: u32,
+        bit_depth: u32,
+        channels: u32,
+        program: &PioI2sInProgram<'d, P>,
+    ) -> Self {
+        let mut data_pin = common.make_pio_pin(data_pin);
+        if data_pulldown {
+            data_pin.set_pull(Pull::Down);
+        }
+        let bit_clock_pin = common.make_pio_pin(bit_clock_pin);
+        let left_right_clock_pin = common.make_pio_pin(lr_clock_pin);
+
+        let cfg = {
+            let mut cfg = Config::default();
+            cfg.use_program(&program.prg, &[&bit_clock_pin, &left_right_clock_pin]);
+            cfg.set_in_pins(&[&data_pin]);
+            let clock_frequency = sample_rate * bit_depth * channels;
+            cfg.clock_divider = (crate::clocks::clk_sys_freq() as f64 / clock_frequency as f64 / 2.).to_fixed();
+            cfg.shift_in = ShiftConfig {
+                threshold: 32,
+                direction: ShiftDirection::Left,
+                auto_fill: true,
+            };
+            // join fifos to have twice the time to start the next dma transfer
+            cfg.fifo_join = FifoJoin::RxOnly; // both control signals are sent via side-setting
+            cfg
+        };
+        sm.set_config(&cfg);
+        sm.set_pin_dirs(Direction::In, &[&data_pin]);
+        sm.set_pin_dirs(Direction::Out, &[&left_right_clock_pin, &bit_clock_pin]);
+        sm.set_enable(true);
+
+        Self { dma: dma.into(), sm }
+    }
+
+    /// Return an in-prograss dma transfer future. Awaiting it will guarentee a complete transfer.
+    pub fn read<'b>(&'b mut self, buff: &'b mut [u32]) -> Transfer<'b, AnyChannel> {
+        self.sm.rx().dma_pull(self.dma.reborrow(), buff, false)
+    }
+}
+
 /// This struct represents an i2s output driver program
 ///
 /// The sample bit-depth is set through scratch register `Y`.
@@ -26,12 +114,12 @@ impl<'d, PIO: Instance> PioI2sOutProgram<'d, PIO> {
             "left_data:",
             "    out pins, 1        side 0b00",
             "    jmp x-- left_data  side 0b01",
-            "    out pins 1         side 0b10",
+            "    out pins, 1        side 0b10",
             "    mov x, y           side 0b11",
             "right_data:",
-            "    out pins 1         side 0b10",
+            "    out pins, 1         side 0b10",
             "    jmp x-- right_data side 0b11",
-            "    out pins 1         side 0b00",
+            "    out pins, 1         side 0b00",
         );
 
         let prg = common.load_program(&prg.program);
diff --git a/examples/rp235x/src/bin/pio_i2s_rx.rs b/examples/rp235x/src/bin/pio_i2s_rx.rs
new file mode 100644
index 000000000..c3f505b13
--- /dev/null
+++ b/examples/rp235x/src/bin/pio_i2s_rx.rs
@@ -0,0 +1,81 @@
+//! This example shows receiving audio from a connected I2S microphone (or other audio source)
+//! using the PIO module of the RP235x.
+//!
+//!
+//! Connect the i2s microphone as follows:
+//!   bclk : GPIO 18
+//!   lrc  : GPIO 19
+//!   din  : GPIO 20
+//! Then hold down the boot select button to begin receiving audio. Received I2S words will be written to
+//! buffers for the left and right channels for use in your application, whether that's storage or
+//! further processing
+//!
+//!  Note the const USE_ONBOARD_PULLDOWN is by default set to false, meaning an external
+//!  pull-down resistor is being used on the data pin if required by the mic being used.
+
+#![no_std]
+#![no_main]
+use core::mem;
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::bind_interrupts;
+use embassy_rp::peripherals::PIO0;
+use embassy_rp::pio::{InterruptHandler, Pio};
+use embassy_rp::pio_programs::i2s::{PioI2sIn, PioI2sInProgram};
+use static_cell::StaticCell;
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    PIO0_IRQ_0 => InterruptHandler<PIO0>;
+});
+
+const SAMPLE_RATE: u32 = 48_000;
+const BIT_DEPTH: u32 = 16;
+const CHANNELS: u32 = 2;
+const USE_ONBOARD_PULLDOWN: bool = false; // whether or not to use the onboard pull-down resistor,
+                                          // which has documented issues on many RP235x boards
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+
+    // Setup pio state machine for i2s input
+    let Pio { mut common, sm0, .. } = Pio::new(p.PIO0, Irqs);
+
+    let bit_clock_pin = p.PIN_18;
+    let left_right_clock_pin = p.PIN_19;
+    let data_pin = p.PIN_20;
+
+    let program = PioI2sInProgram::new(&mut common);
+    let mut i2s = PioI2sIn::new(
+        &mut common,
+        sm0,
+        p.DMA_CH0,
+        USE_ONBOARD_PULLDOWN,
+        data_pin,
+        bit_clock_pin,
+        left_right_clock_pin,
+        SAMPLE_RATE,
+        BIT_DEPTH,
+        CHANNELS,
+        &program,
+    );
+
+    // create two audio buffers (back and front) which will take turns being
+    // filled with new audio data from the PIO fifo using DMA
+    const BUFFER_SIZE: usize = 960;
+    static DMA_BUFFER: StaticCell<[u32; BUFFER_SIZE * 2]> = StaticCell::new();
+    let dma_buffer = DMA_BUFFER.init_with(|| [0u32; BUFFER_SIZE * 2]);
+    let (mut back_buffer, mut front_buffer) = dma_buffer.split_at_mut(BUFFER_SIZE);
+
+    loop {
+        // trigger transfer of front buffer data to the pio fifo
+        // but don't await the returned future, yet
+        let dma_future = i2s.read(front_buffer);
+        // now await the dma future. once the dma finishes, the next buffer needs to be queued
+        // within DMA_DEPTH / SAMPLE_RATE = 8 / 48000 seconds = 166us
+        dma_future.await;
+        info!("Received I2S data word: {:?}", &front_buffer);
+        mem::swap(&mut back_buffer, &mut front_buffer);
+    }
+}