3 files changed, 23 insertions, 15 deletions

diff --git a/examples/rp/src/bin/pio_async.rs b/examples/rp/src/bin/pio_async.rs
index 3cfeec71f..1b075b8fd 100644
--- a/examples/rp/src/bin/pio_async.rs
+++ b/examples/rp/src/bin/pio_async.rs
@@ -28,7 +28,7 @@ fn setup_pio_task_sm0(pio: &mut PioCommonInstance<Pio0>, sm: &mut PioStateMachin
     let out_pin = pio.make_pio_pin(pin);
     let pio_pins = [&out_pin];
     sm.set_out_pins(&pio_pins);
-    sm.write_instr(relocated.origin() as usize, relocated.code());
+    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);
@@ -51,16 +51,15 @@ async fn pio_task_sm0(mut sm: PioStateMachineInstance<Pio0, Sm0>) {
     }
 }
 
-#[embassy_executor::task]
-async fn pio_task_sm1(mut sm: PioStateMachineInstance<Pio0, Sm1>) {
+fn setup_pio_task_sm1(pio: &mut PioCommonInstance<Pio0>, sm: &mut PioStateMachineInstance<Pio0, Sm1>) {
     // 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);
-    sm.write_instr(relocated.origin() as usize, relocated.code());
-    pio_instr_util::exec_jmp(&mut sm, relocated.origin());
+    pio.write_instr(relocated.origin() as usize, relocated.code());
+    pio_instr_util::exec_jmp(sm, relocated.origin());
     sm.set_clkdiv((125e6 / 2e3 * 256.0) as u32);
     sm.set_set_range(0, 0);
     let pio::Wrap { source, target } = relocated.wrap();
@@ -68,6 +67,10 @@ async fn pio_task_sm1(mut sm: PioStateMachineInstance<Pio0, Sm1>) {
 
     sm.set_autopush(true);
     sm.set_in_shift_dir(ShiftDirection::Right);
+}
+
+#[embassy_executor::task]
+async fn pio_task_sm1(mut sm: PioStateMachineInstance<Pio0, Sm1>) {
     sm.set_enable(true);
     loop {
         let rx = sm.wait_pull().await;
@@ -75,8 +78,7 @@ async fn pio_task_sm1(mut sm: PioStateMachineInstance<Pio0, Sm1>) {
     }
 }
 
-#[embassy_executor::task]
-async fn pio_task_sm2(mut sm: PioStateMachineInstance<Pio0, Sm2>) {
+fn setup_pio_task_sm2(pio: &mut PioCommonInstance<Pio0>, sm: &mut PioStateMachineInstance<Pio0, Sm2>) {
     // Setup sm2
 
     // Repeatedly trigger IRQ 3
@@ -90,13 +92,17 @@ async fn pio_task_sm2(mut sm: PioStateMachineInstance<Pio0, Sm2>) {
         ".wrap",
     );
     let relocated = RelocatedProgram::new(&prg.program);
-    sm.write_instr(relocated.origin() as usize, relocated.code());
+    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(&mut sm, relocated.origin());
+    pio_instr_util::exec_jmp(sm, relocated.origin());
     sm.set_clkdiv((125e6 / 2e3 * 256.0) as u32);
+}
+
+#[embassy_executor::task]
+async fn pio_task_sm2(mut sm: PioStateMachineInstance<Pio0, Sm2>) {
     sm.set_enable(true);
     loop {
         sm.wait_irq(3).await;
@@ -109,9 +115,11 @@ async fn main(spawner: Spawner) {
     let p = embassy_rp::init(Default::default());
     let pio = p.PIO0;
 
-    let (mut pio0, mut sm0, sm1, sm2, ..) = pio.split();
+    let (mut pio0, mut sm0, mut sm1, mut sm2, ..) = pio.split();
 
     setup_pio_task_sm0(&mut pio0, &mut sm0, p.PIN_0.degrade());
+    setup_pio_task_sm1(&mut pio0, &mut sm1);
+    setup_pio_task_sm2(&mut pio0, &mut sm2);
     spawner.spawn(pio_task_sm0(sm0)).unwrap();
     spawner.spawn(pio_task_sm1(sm1)).unwrap();
     spawner.spawn(pio_task_sm2(sm2)).unwrap();
diff --git a/examples/rp/src/bin/pio_dma.rs b/examples/rp/src/bin/pio_dma.rs
index 145e4a656..7d4919f75 100644
--- a/examples/rp/src/bin/pio_dma.rs
+++ b/examples/rp/src/bin/pio_dma.rs
@@ -4,7 +4,7 @@
 use defmt::info;
 use embassy_executor::Spawner;
 use embassy_futures::join::join;
-use embassy_rp::pio::{PioPeripheral, PioStateMachine, ShiftDirection};
+use embassy_rp::pio::{PioCommon, PioPeripheral, PioStateMachine, ShiftDirection};
 use embassy_rp::relocate::RelocatedProgram;
 use embassy_rp::{pio_instr_util, Peripheral};
 use {defmt_rtt as _, panic_probe as _};
@@ -19,7 +19,7 @@ fn swap_nibbles(v: u32) -> u32 {
 async fn main(_spawner: Spawner) {
     let p = embassy_rp::init(Default::default());
     let pio = p.PIO0;
-    let (_, mut sm, ..) = pio.split();
+    let (mut pio0, mut sm, ..) = pio.split();
 
     let prg = pio_proc::pio_asm!(
         ".origin 0",
@@ -34,7 +34,7 @@ async fn main(_spawner: Spawner) {
     );
 
     let relocated = RelocatedProgram::new(&prg.program);
-    sm.write_instr(relocated.origin() as usize, relocated.code());
+    pio0.write_instr(relocated.origin() as usize, relocated.code());
     pio_instr_util::exec_jmp(&mut sm, relocated.origin());
     sm.set_clkdiv((125e6 / 10e3 * 256.0) as u32);
     let pio::Wrap { source, target } = relocated.wrap();
diff --git a/examples/rp/src/bin/ws2812-pio.rs b/examples/rp/src/bin/ws2812-pio.rs
index 211c60c49..041e8ae11 100644
--- a/examples/rp/src/bin/ws2812-pio.rs
+++ b/examples/rp/src/bin/ws2812-pio.rs
@@ -19,7 +19,7 @@ pub struct Ws2812<P: PioInstance, S: SmInstance> {
 }
 
 impl<P: PioInstance, S: SmInstance> Ws2812<P, S> {
-    pub fn new(pio: PioCommonInstance<P>, mut sm: PioStateMachineInstance<P, S>, pin: gpio::AnyPin) -> Self {
+    pub fn new(mut pio: PioCommonInstance<P>, mut sm: PioStateMachineInstance<P, S>, pin: gpio::AnyPin) -> Self {
         // Setup sm0
 
         // prepare the PIO program
@@ -50,7 +50,7 @@ impl<P: PioInstance, S: SmInstance> Ws2812<P, S> {
         let prg = a.assemble_with_wrap(wrap_source, wrap_target);
 
         let relocated = RelocatedProgram::new(&prg);
-        sm.write_instr(relocated.origin() as usize, relocated.code());
+        pio.write_instr(relocated.origin() as usize, relocated.code());
         pio_instr_util::exec_jmp(&mut sm, relocated.origin());
 
         // Pin config