4 files changed, 13 insertions, 48 deletions

diff --git a/examples/rp/src/bin/pio_async.rs b/examples/rp/src/bin/pio_async.rs
index 461ea3ff9..9f47c2316 100644
--- a/examples/rp/src/bin/pio_async.rs
+++ b/examples/rp/src/bin/pio_async.rs
@@ -5,11 +5,10 @@ use defmt::info;
 use embassy_executor::Spawner;
 use embassy_rp::peripherals::PIO0;
 use embassy_rp::pio::{Common, Irq, Pio, PioPin, ShiftDirection, StateMachine};
-use embassy_rp::pio_instr_util;
 use embassy_rp::relocate::RelocatedProgram;
 use {defmt_rtt as _, panic_probe as _};
 
-fn setup_pio_task_sm0(pio: &mut Common<PIO0>, sm: &mut StateMachine<PIO0, 0>, pin: impl PioPin) {
+fn setup_pio_task_sm0<'a>(pio: &mut Common<'a, PIO0>, sm: &mut StateMachine<'a, PIO0, 0>, pin: impl PioPin) {
     // Setup sm0
 
     // Send data serially to pin
@@ -22,15 +21,12 @@ fn setup_pio_task_sm0(pio: &mut Common<PIO0>, sm: &mut StateMachine<PIO0, 0>, pi
     );
 
     let relocated = RelocatedProgram::new(&prg.program);
+    sm.use_program(&pio.load_program(&relocated), &[]);
     let out_pin = pio.make_pio_pin(pin);
     let pio_pins = [&out_pin];
     sm.set_out_pins(&pio_pins);
-    pio.write_instr(relocated.origin() as usize, relocated.code());
-    pio_instr_util::exec_jmp(sm, relocated.origin());
     sm.set_clkdiv((125e6 / 20.0 / 2e2 * 256.0) as u32);
     sm.set_set_range(0, 1);
-    let pio::Wrap { source, target } = relocated.wrap();
-    sm.set_wrap(source, target);
 
     sm.set_autopull(true);
     sm.set_out_shift_dir(ShiftDirection::Left);
@@ -48,20 +44,16 @@ async fn pio_task_sm0(mut sm: StateMachine<'static, PIO0, 0>) {
     }
 }
 
-fn setup_pio_task_sm1(pio: &mut Common<PIO0>, sm: &mut StateMachine<PIO0, 1>) {
+fn setup_pio_task_sm1<'a>(pio: &mut Common<'a, PIO0>, sm: &mut StateMachine<'a, PIO0, 1>) {
     // Setupm sm1
 
     // Read 0b10101 repeatedly until ISR is full
     let prg = pio_proc::pio_asm!(".origin 8", "set x, 0x15", ".wrap_target", "in x, 5 [31]", ".wrap",);
 
     let relocated = RelocatedProgram::new(&prg.program);
-    pio.write_instr(relocated.origin() as usize, relocated.code());
-    pio_instr_util::exec_jmp(sm, relocated.origin());
+    sm.use_program(&pio.load_program(&relocated), &[]);
     sm.set_clkdiv((125e6 / 2e3 * 256.0) as u32);
     sm.set_set_range(0, 0);
-    let pio::Wrap { source, target } = relocated.wrap();
-    sm.set_wrap(source, target);
-
     sm.set_autopush(true);
     sm.set_in_shift_dir(ShiftDirection::Right);
 }
@@ -75,7 +67,7 @@ async fn pio_task_sm1(mut sm: StateMachine<'static, PIO0, 1>) {
     }
 }
 
-fn setup_pio_task_sm2(pio: &mut Common<PIO0>, sm: &mut StateMachine<PIO0, 2>) {
+fn setup_pio_task_sm2<'a>(pio: &mut Common<'a, PIO0>, sm: &mut StateMachine<'a, PIO0, 2>) {
     // Setup sm2
 
     // Repeatedly trigger IRQ 3
@@ -89,12 +81,7 @@ fn setup_pio_task_sm2(pio: &mut Common<PIO0>, sm: &mut StateMachine<PIO0, 2>) {
         ".wrap",
     );
     let relocated = RelocatedProgram::new(&prg.program);
-    pio.write_instr(relocated.origin() as usize, relocated.code());
-
-    let pio::Wrap { source, target } = relocated.wrap();
-    sm.set_wrap(source, target);
-
-    pio_instr_util::exec_jmp(sm, relocated.origin());
+    sm.use_program(&pio.load_program(&relocated), &[]);
     sm.set_clkdiv((125e6 / 2e3 * 256.0) as u32);
 }
 
diff --git a/examples/rp/src/bin/pio_dma.rs b/examples/rp/src/bin/pio_dma.rs
index c664482e5..1c4e127c7 100644
--- a/examples/rp/src/bin/pio_dma.rs
+++ b/examples/rp/src/bin/pio_dma.rs
@@ -6,7 +6,7 @@ use embassy_executor::Spawner;
 use embassy_futures::join::join;
 use embassy_rp::pio::{Pio, ShiftDirection};
 use embassy_rp::relocate::RelocatedProgram;
-use embassy_rp::{pio_instr_util, Peripheral};
+use embassy_rp::Peripheral;
 use {defmt_rtt as _, panic_probe as _};
 
 fn swap_nibbles(v: u32) -> u32 {
@@ -38,11 +38,8 @@ async fn main(_spawner: Spawner) {
     );
 
     let relocated = RelocatedProgram::new(&prg.program);
-    common.write_instr(relocated.origin() as usize, relocated.code());
-    pio_instr_util::exec_jmp(&mut sm, relocated.origin());
+    sm.use_program(&common.load_program(&relocated), &[]);
     sm.set_clkdiv((125e6 / 10e3 * 256.0) as u32);
-    let pio::Wrap { source, target } = relocated.wrap();
-    sm.set_wrap(source, target);
     sm.set_autopull(true);
     sm.set_autopush(true);
     sm.set_pull_threshold(32);
diff --git a/examples/rp/src/bin/pio_hd44780.rs b/examples/rp/src/bin/pio_hd44780.rs
index 17b2440cf..c3466b554 100644
--- a/examples/rp/src/bin/pio_hd44780.rs
+++ b/examples/rp/src/bin/pio_hd44780.rs
@@ -123,15 +123,9 @@ impl<'l> HD44780<'l> {
         embassy_rp::pio_instr_util::set_pindir(&mut sm0, 0b11111);
 
         let relocated = RelocatedProgram::new(&prg.program);
-        common.write_instr(relocated.origin() as usize, relocated.code());
-        embassy_rp::pio_instr_util::exec_jmp(&mut sm0, relocated.origin());
+        sm0.use_program(&common.load_program(&relocated), &[&e]);
         sm0.set_clkdiv(125 * 256);
-        let pio::Wrap { source, target } = relocated.wrap();
-        sm0.set_wrap(source, target);
-        sm0.set_side_enable(true);
         sm0.set_out_pins(&[&db4, &db5, &db6, &db7]);
-        sm0.set_sideset_base_pin(&e);
-        sm0.set_sideset_count(2);
         sm0.set_out_shift_dir(ShiftDirection::Left);
         sm0.set_fifo_join(FifoJoin::TxOnly);
         sm0.set_autopull(true);
@@ -199,17 +193,11 @@ impl<'l> HD44780<'l> {
         );
 
         let relocated = RelocatedProgram::new(&prg.program);
-        common.write_instr(relocated.origin() as usize, relocated.code());
-        embassy_rp::pio_instr_util::exec_jmp(&mut sm0, relocated.origin());
-        let pio::Wrap { source, target } = relocated.wrap();
+        sm0.use_program(&common.load_program(&relocated), &[&e]);
         sm0.set_clkdiv(8 * 256); // ~64ns/insn
-        sm0.set_side_enable(false);
         sm0.set_jmp_pin(db7pin);
-        sm0.set_wrap(source, target);
         sm0.set_set_pins(&[&rs, &rw]);
         sm0.set_out_pins(&[&db4, &db5, &db6, &db7]);
-        sm0.set_sideset_base_pin(&e);
-        sm0.set_sideset_count(1);
         sm0.set_out_shift_dir(ShiftDirection::Left);
         sm0.set_fifo_join(FifoJoin::TxOnly);
 
diff --git a/examples/rp/src/bin/ws2812-pio.rs b/examples/rp/src/bin/ws2812-pio.rs
index 2e6860d8b..889970541 100644
--- a/examples/rp/src/bin/ws2812-pio.rs
+++ b/examples/rp/src/bin/ws2812-pio.rs
@@ -5,7 +5,6 @@
 use defmt::*;
 use embassy_executor::Spawner;
 use embassy_rp::pio::{Common, FifoJoin, Instance, Pio, PioPin, ShiftDirection, StateMachine};
-use embassy_rp::pio_instr_util;
 use embassy_rp::relocate::RelocatedProgram;
 use embassy_time::{Duration, Timer};
 use smart_leds::RGB8;
@@ -45,15 +44,11 @@ impl<'d, P: Instance, const S: usize> Ws2812<'d, P, S> {
 
         let prg = a.assemble_with_wrap(wrap_source, wrap_target);
 
-        let relocated = RelocatedProgram::new(&prg);
-        pio.write_instr(relocated.origin() as usize, relocated.code());
-        pio_instr_util::exec_jmp(&mut sm, relocated.origin());
-
         // Pin config
         let out_pin = pio.make_pio_pin(pin);
-        sm.set_set_pins(&[&out_pin]);
-        sm.set_sideset_base_pin(&out_pin);
-        sm.set_sideset_count(1);
+
+        let relocated = RelocatedProgram::new(&prg);
+        sm.use_program(&pio.load_program(&relocated), &[&out_pin]);
 
         // Clock config
         // TODO CLOCK_FREQ should come from embassy_rp
@@ -70,8 +65,6 @@ impl<'d, P: Instance, const S: usize> Ws2812<'d, P, S> {
         }
 
         sm.set_clkdiv((int << 8) | frac);
-        let pio::Wrap { source, target } = relocated.wrap();
-        sm.set_wrap(source, target);
 
         // FIFO config
         sm.set_autopull(true);