nanoframework · begeistert · Jun 25, 2026 · Jun 25, 2026 · Jun 25, 2026 · Jun 25, 2026
diff --git a/CMake/Modules/FindNF_NativeAssemblies.cmake b/CMake/Modules/FindNF_NativeAssemblies.cmake
@@ -1,4 +1,4 @@
-#
+#
 # Copyright (c) .NET Foundation and Contributors
 # See LICENSE file in the project root for full license information.
 #
@@ -42,6 +42,7 @@ option(API_nanoFramework.Networking.Thread              "option for nanoFramewor
 
 # Stm32 only
 option(API_Hardware.Stm32                               "option for Hardware.Stm32")
+option(API_Hardware.Pico                                "option for Hardware.Pico")
 
 # TI CC13xxCC26xx
 option(API_nanoFramework.TI.EasyLink                    "option for nanoFramework.TI.EasyLink API")
@@ -270,6 +271,12 @@ if(API_Hardware.Stm32)
     PerformSettingsForApiEntry("nanoFramework.Hardware.Stm32")
 endif()
 
+# Hardware.Pico
+if(API_Hardware.Pico)
+    ##### API name here (doted name)
+    PerformSettingsForApiEntry("nanoFramework.Hardware.Pico")
+endif()
+
 # nanoFramework.Device.Can
 if(API_nanoFramework.Device.Can)
     ##### API name here (doted name)

diff --git a/CMake/Modules/FindnanoFramework.Hardware.Pico.cmake b/CMake/Modules/FindnanoFramework.Hardware.Pico.cmake
@@ -0,0 +1,46 @@
+#
+# Copyright (c) .NET Foundation and Contributors
+# See LICENSE file in the project root for full license information.
+#
+
+
+# native code directory
+set(BASE_PATH_FOR_THIS_MODULE "${BASE_PATH_FOR_CLASS_LIBRARIES_MODULES}/nanoFramework.Hardware.Pico")
+
+
+# set include directories
+list(APPEND nanoFramework.Hardware.Pico_INCLUDE_DIRS "${BASE_PATH_FOR_THIS_MODULE}")
+
+
+# source files
+set(nanoFramework.Hardware.Pico_SRCS
+
+    nanoFramework_hardware_pico_native.cpp
+    nanoFramework_hardware_pico_native_nanoFramework_Hardware_Pico_Pio_Pio.cpp
+    nanoFramework_hardware_pico_native_nanoFramework_Hardware_Pico_Pio_PioBlock.cpp
+    nanoFramework_hardware_pico_native_nanoFramework_Hardware_Pico_Pio_PioStateMachine.cpp
+)
+
+foreach(SRC_FILE ${nanoFramework.Hardware.Pico_SRCS})
+
+    set(nanoFramework.Hardware.Pico_SRC_FILE SRC_FILE-NOTFOUND)
+
+    find_file(nanoFramework.Hardware.Pico_SRC_FILE ${SRC_FILE}
+        PATHS
+            ${BASE_PATH_FOR_THIS_MODULE}
+
+        CMAKE_FIND_ROOT_PATH_BOTH
+    )
+
+    if (BUILD_VERBOSE)
+        message("${SRC_FILE} >> ${nanoFramework.Hardware.Pico_SRC_FILE}")
+    endif()
+
+    list(APPEND nanoFramework.Hardware.Pico_SOURCES ${nanoFramework.Hardware.Pico_SRC_FILE})
+
+endforeach()
+
+
+include(FindPackageHandleStandardArgs)
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(nanoFramework.Hardware.Pico DEFAULT_MSG nanoFramework.Hardware.Pico_INCLUDE_DIRS nanoFramework.Hardware.Pico_SOURCES)
diff --git a/CMake/Modules/NF_Kconfig.cmake b/CMake/Modules/NF_Kconfig.cmake
@@ -43,6 +43,7 @@ set(_NF_KCONFIG_API_MAP
 
     # Platform-specific APIs
     "API_HARDWARE_STM32|API_Hardware.Stm32"
+    "API_HARDWARE_PICO|API_Hardware.Pico"
     "API_HARDWARE_ESP32|API_Hardware.Esp32"
     "API_NANOFRAMEWORK_HARDWARE_ESP32_RMT|API_nanoFramework.Hardware.Esp32.Rmt"
     "API_NANOFRAMEWORK_HARDWARE_TI|API_nanoFramework.Hardware.TI"

diff --git a/Kconfig.apis b/Kconfig.apis
@@ -113,6 +113,11 @@ config API_HARDWARE_STM32
     depends on RTOS_CHIBIOS
     default n
 
+config API_HARDWARE_PICO
+    bool "Hardware.Pico"
+    depends on RTOS_CHIBIOS
+    default n
+
 config API_HARDWARE_ESP32
     bool "Hardware.Esp32"
     depends on RTOS_ESP32

diff --git a/src/CLR/Core/Hardware/Hardware.cpp b/src/CLR/Core/Hardware/Hardware.cpp
@@ -173,6 +173,11 @@ void CLR_HW_Hardware::ProcessActivity()
         eventsCLR |= Event_StorageIo;
     }
 
+    if (events & SYSTEM_EVENT_FLAG_PICOPIO)
+    {
+        eventsCLR |= Event_PicoPio;
+    }
+
     if (events & SYSTEM_EVENT_FLAG_RADIO)
     {
         eventsCLR |= Event_Radio;

diff --git a/src/CLR/Include/nanoCLR_Hardware.h b/src/CLR/Include/nanoCLR_Hardware.h
@@ -22,11 +22,11 @@ struct CLR_HW_Hardware
     static const CLR_UINT32 c_Default_PowerLevel = PowerLevel__Sleep;
     static const CLR_UINT32 c_Default_WakeupEvents =
         SYSTEM_EVENT_FLAG_COM_IN | SYSTEM_EVENT_FLAG_COM_OUT | SYSTEM_EVENT_FLAG_STORAGE_IO |
-        SYSTEM_EVENT_FLAG_SYSTEM_TIMER | SYSTEM_EVENT_FLAG_USB_IN | SYSTEM_EVENT_FLAG_USB_OUT |
-        SYSTEM_EVENT_FLAG_SPI_MASTER | SYSTEM_EVENT_FLAG_I2C_MASTER | SYSTEM_EVENT_FLAG_I2C_SLAVE |
-        SYSTEM_EVENT_HW_INTERRUPT | SYSTEM_EVENT_FLAG_SOCKET | SYSTEM_EVENT_FLAG_DEBUGGER_ACTIVITY |
-        SYSTEM_EVENT_FLAG_MESSAGING_ACTIVITY | SYSTEM_EVENT_FLAG_ONEWIRE_MASTER | SYSTEM_EVENT_FLAG_RADIO |
-        SYSTEM_EVENT_FLAG_WIFI_STATION | SYSTEM_EVENT_FLAG_BLUETOOTH;
+        SYSTEM_EVENT_FLAG_PICOPIO | SYSTEM_EVENT_FLAG_SYSTEM_TIMER | SYSTEM_EVENT_FLAG_USB_IN |
+        SYSTEM_EVENT_FLAG_USB_OUT | SYSTEM_EVENT_FLAG_SPI_MASTER | SYSTEM_EVENT_FLAG_I2C_MASTER |
+        SYSTEM_EVENT_FLAG_I2C_SLAVE | SYSTEM_EVENT_HW_INTERRUPT | SYSTEM_EVENT_FLAG_SOCKET |
+        SYSTEM_EVENT_FLAG_DEBUGGER_ACTIVITY | SYSTEM_EVENT_FLAG_MESSAGING_ACTIVITY | SYSTEM_EVENT_FLAG_ONEWIRE_MASTER |
+        SYSTEM_EVENT_FLAG_RADIO | SYSTEM_EVENT_FLAG_WIFI_STATION | SYSTEM_EVENT_FLAG_BLUETOOTH;
 
     //--//
 

diff --git a/src/CLR/Include/nanoCLR_Runtime.h b/src/CLR/Include/nanoCLR_Runtime.h
@@ -3441,6 +3441,7 @@ typedef enum Events
     Event_SerialPortIn      = 0x00000002,
     Event_SerialPortOut     = 0x00000004,
     Event_EndPoint          = 0x00000008,
+    Event_PicoPio           = 0x00000010,
     Event_StorageIo         = 0x00000020,
     Event_I2cMaster         = 0x00000080,
     Event_SpiMaster         = 0x00000100,

diff --git a/src/HAL/Include/nanoHAL_v2.h b/src/HAL/Include/nanoHAL_v2.h
@@ -60,6 +60,7 @@ typedef enum SLEEP_LEVEL
 #define SYSTEM_EVENT_FLAG_COM_IN       0x00000001
 #define SYSTEM_EVENT_FLAG_COM_OUT      0x00000002
 #define SYSTEM_EVENT_FLAG_STORAGE_IO   0x00000004
+#define SYSTEM_EVENT_FLAG_PICOPIO      0x00000008
 #define SYSTEM_EVENT_FLAG_SYSTEM_TIMER 0x00000010
 #define SYSTEM_EVENT_FLAG_USB_IN       0x00000020
 #define SYSTEM_EVENT_FLAG_USB_OUT      0x00000040
@@ -115,6 +116,7 @@ typedef enum SLEEP_LEVEL
 #define EVENT_TOUCH                 120
 #define EVENT_GESTURE               130
 #define EVENT_OPENTHREAD            140
+#define EVENT_PICO_PIO              160
 
 #define PAL_EVENT_TOUCH 0x1
 #define PAL_EVENT_KEY   0x2

diff --git a/targets/ChibiOS/PICO2_RP2350/CMakeLists.txt b/targets/ChibiOS/PICO2_RP2350/CMakeLists.txt
@@ -20,6 +20,10 @@ list(APPEND TARGET_CHIBIOS_COMMON_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/Target_Bl
 list(APPEND TARGET_CHIBIOS_COMMON_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/target_stubs.cpp")
 list(APPEND TARGET_CHIBIOS_COMMON_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/target_core1_stubs.c")
 
+# PIO LLD sources
+list(APPEND TARGET_CHIBIOS_NANOCLR_INCLUDE_DIRS "${chibios_SOURCE_DIR}/os/hal/ports/RP/LLD/PIOv1")
+list(APPEND TARGET_CHIBIOS_NANOCLR_SOURCES "${chibios_SOURCE_DIR}/os/hal/ports/RP/LLD/PIOv1/rp_pio.c")
+
 nf_setup_target_build(
     HAS_NANOBOOTER
 
@@ -31,6 +35,7 @@ nf_setup_target_build(
 
     CLR_EXTRA_COMPILE_DEFINITIONS
         -DRUNTIME_MEMORY_PROFILE__small=1
+        -DRP_PIO_REQUIRED=1
         # RP flash is XIP-mapped and shared with code execution; this flag enables
         # runtime handling that avoids USB/WP activity while XIP flash operations are in progress.
         -DTARGET_XIP_FLASH_BLOCKS_USB=1

diff --git a/targets/ChibiOS/PICO2_RP2350/README.md b/targets/ChibiOS/PICO2_RP2350/README.md
@@ -134,6 +134,34 @@ int raw = tempChannel.ReadValue();
 - **Resolution:** 12-bit (0–4095)
 - **Reference voltage:** 3.3V (internal)
 
+### PIO (Programmable I/O)
+
+The RP2350's **three PIO blocks** (4 state machines each) are exposed through the `nanoFramework.Hardware.Pico` library. Write small PIO programs with the inline `PioAssembler`, load them onto a block and run them on a state machine — useful for precise or custom protocols (WS2812, bit-banged SPI/UART, etc.) the fixed peripherals don't cover.
+
+```csharp
+using nanoFramework.Hardware.Pico.Pio;
+
+// pull a word and drive its low bit onto the OUT pin
+var asm = new PioAssembler();
+PioLabel loop = asm.DefineLabel();
+asm.MarkLabel(loop);
+asm.Pull(ifEmpty: false, block: true);
+asm.Out(DestinationOperand.Pins, 1);
+asm.Jmp(PioCondition.Always, loop);
+PioProgram program = asm.Build();
+
+PioBlock pio = Pio.Get(0);
+uint offset = pio.AddProgram(program);
+PioStateMachine sm = pio.ClaimStateMachine();
+sm.Init(offset, PioStateMachineConfig.FromProgram(program, (int)offset).OutPins(25, 1));
+pio.InitGpio(25);
+sm.SetConsecutivePinDirs(25, 1, true);
+sm.Enabled = true;
+sm.Put(1);  // drive the on-board LED
+```
+
+> Provided by the `nanoFramework.Hardware.Pico` NuGet package. State machine interrupts surface as the managed `PioBlock.Interrupt` event.
+
 ## Pico Board Pinout Reference
 
 ```
@@ -182,6 +210,7 @@ Key CMake preset options (`CMakePresets.json`):
   "API_System.Device.I2c": "ON",
   "API_System.Device.Pwm": "ON",
   "API_System.Device.Adc": "ON",
+  "API_Hardware.Pico": "ON",
   "USE_RNG": "OFF"
 }
 ```
diff --git a/targets/ChibiOS/PICO2_RP2350/defconfig b/targets/ChibiOS/PICO2_RP2350/defconfig
@@ -9,6 +9,7 @@ CONFIG_API_SYSTEM_IO_PORTS=y
 CONFIG_API_NANOFRAMEWORK_RESOURCEMANAGER=y
 CONFIG_API_NANOFRAMEWORK_SYSTEM_COLLECTIONS=y
 CONFIG_API_NANOFRAMEWORK_SYSTEM_TEXT=y
+CONFIG_API_HARDWARE_PICO=y
 # CONFIG_CHIBIOS_CONTRIB_REQUIRED is not set
 # CONFIG_CHIBIOS_SWO_OUTPUT is not set
 # CONFIG_NF_BUILD_RTM is not set

diff --git a/targets/ChibiOS/PICO2_RP2350_W/defconfig b/targets/ChibiOS/PICO2_RP2350_W/defconfig
@@ -9,6 +9,7 @@ CONFIG_API_SYSTEM_DEVICE_WIFI=y
 CONFIG_API_SYSTEM_IO_FILESYSTEM=y
 CONFIG_API_SYSTEM_IO_PORTS=y
 CONFIG_API_SYSTEM_NET=y
+CONFIG_API_HARDWARE_PICO=y
 CONFIG_API_NANOFRAMEWORK_RESOURCEMANAGER=y
 CONFIG_API_NANOFRAMEWORK_SYSTEM_COLLECTIONS=y
 CONFIG_API_NANOFRAMEWORK_SYSTEM_TEXT=y

diff --git a/targets/ChibiOS/PICO_RP2040/CMakeLists.txt b/targets/ChibiOS/PICO_RP2040/CMakeLists.txt
@@ -19,6 +19,11 @@ list(APPEND TARGET_CHIBIOS_COMMON_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/comm
 list(APPEND TARGET_CHIBIOS_COMMON_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/Target_BlockStorage_RP2040FlashDriver.c")
 list(APPEND TARGET_CHIBIOS_COMMON_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/target_stubs.cpp")
 
+
+# PIO LLD sources
+list(APPEND TARGET_CHIBIOS_NANOCLR_INCLUDE_DIRS "${chibios_SOURCE_DIR}/os/hal/ports/RP/LLD/PIOv1")
+list(APPEND TARGET_CHIBIOS_NANOCLR_SOURCES "${chibios_SOURCE_DIR}/os/hal/ports/RP/LLD/PIOv1/rp_pio.c")
+
 nf_setup_target_build(
     HAS_NANOBOOTER
 
@@ -31,6 +36,7 @@ nf_setup_target_build(
     CLR_EXTRA_COMPILE_DEFINITIONS
         -DRUNTIME_MEMORY_PROFILE__small=1
         -DTARGET_XIP_FLASH_BLOCKS_USB=1
+        -DRP_PIO_REQUIRED=1
         LFS_CONFIG=lfs_config.h
 
     BOOTER_EXTRA_LINKMAP_PROPERTIES

diff --git a/targets/ChibiOS/PICO_RP2040/README.md b/targets/ChibiOS/PICO_RP2040/README.md
@@ -137,6 +137,34 @@ int raw = tempChannel.ReadValue();
 - **Resolution:** 12-bit (0–4095)
 - **Reference voltage:** 3.3V (internal)
 
+### PIO (Programmable I/O)
+
+The RP2040's **two PIO blocks** (4 state machines each) are exposed through the `nanoFramework.Hardware.Pico` library. Write small PIO programs with the inline `PioAssembler`, load them onto a block and run them on a state machine — useful for precise or custom protocols (WS2812, bit-banged SPI/UART, etc.) the fixed peripherals don't cover.
+
+```csharp
+using nanoFramework.Hardware.Pico.Pio;
+
+// pull a word and drive its low bit onto the OUT pin
+var asm = new PioAssembler();
+PioLabel loop = asm.DefineLabel();
+asm.MarkLabel(loop);
+asm.Pull(ifEmpty: false, block: true);
+asm.Out(DestinationOperand.Pins, 1);
+asm.Jmp(PioCondition.Always, loop);
+PioProgram program = asm.Build();
+
+PioBlock pio = Pio.Get(0);
+uint offset = pio.AddProgram(program);
+PioStateMachine sm = pio.ClaimStateMachine();
+sm.Init(offset, PioStateMachineConfig.FromProgram(program, (int)offset).OutPins(25, 1));
+pio.InitGpio(25);
+sm.SetConsecutivePinDirs(25, 1, true);
+sm.Enabled = true;
+sm.Put(1);  // drive the on-board LED
+```
+
+> Provided by the `nanoFramework.Hardware.Pico` NuGet package. State machine interrupts surface as the managed `PioBlock.Interrupt` event.
+
 ## Pico Board Pinout Reference
 
 ```
@@ -185,6 +213,7 @@ Key CMake preset options (`CMakePresets.json`):
   "API_System.Device.I2c": "ON",
   "API_System.Device.Pwm": "ON",
   "API_System.Device.Adc": "ON",
+  "API_Hardware.Pico": "ON",
   "USE_RNG": "OFF"
 }
 ```
diff --git a/targets/ChibiOS/PICO_RP2040_W/defconfig b/targets/ChibiOS/PICO_RP2040_W/defconfig
@@ -9,6 +9,7 @@ CONFIG_API_SYSTEM_DEVICE_WIFI=y
 CONFIG_API_SYSTEM_IO_FILESYSTEM=y
 CONFIG_API_SYSTEM_IO_PORTS=y
 CONFIG_API_SYSTEM_NET=y
+CONFIG_API_HARDWARE_RP2040=y
 CONFIG_API_NANOFRAMEWORK_RESOURCEMANAGER=y
 CONFIG_API_NANOFRAMEWORK_SYSTEM_COLLECTIONS=y
 CONFIG_API_NANOFRAMEWORK_SYSTEM_TEXT=y