diff --git a/embassy-rp/src/pio.rs b/embassy-rp/src/pio.rs
index e9a67fd4..459b7806 100644
--- a/embassy-rp/src/pio.rs
+++ b/embassy-rp/src/pio.rs
@@ -904,19 +904,19 @@ impl<const SM_NO: u8> sealed::SmInstance for SmInstanceBase<SM_NO> {
 }
 impl<const SM_NO: u8> SmInstance for SmInstanceBase<SM_NO> {}
 
-pub trait PioPeripheral: sealed::PioPeripheral + Sized {
+pub trait PioInstance: sealed::PioInstance + Sized + Unpin {
     fn pio(&self) -> u8 {
-        Self::Pio::PIO_NO
+        Self::PIO_NO
     }
 
     fn split(
         self,
     ) -> (
-        PioCommonInstance<Self::Pio>,
-        PioStateMachineInstance<Self::Pio, SmInstanceBase<0>>,
-        PioStateMachineInstance<Self::Pio, SmInstanceBase<1>>,
-        PioStateMachineInstance<Self::Pio, SmInstanceBase<2>>,
-        PioStateMachineInstance<Self::Pio, SmInstanceBase<3>>,
+        PioCommonInstance<Self>,
+        PioStateMachineInstance<Self, SmInstanceBase<0>>,
+        PioStateMachineInstance<Self, SmInstanceBase<1>>,
+        PioStateMachineInstance<Self, SmInstanceBase<2>>,
+        PioStateMachineInstance<Self, SmInstanceBase<3>>,
     ) {
         (
             PioCommonInstance {
@@ -944,12 +944,6 @@ pub trait PioPeripheral: sealed::PioPeripheral + Sized {
 }
 
 mod sealed {
-    pub trait PioInstance {
-        const PIO_NO: u8;
-        const PIO: &'static crate::pac::pio::Pio;
-        const FUNCSEL: crate::pac::io::vals::Gpio0ctrlFuncsel;
-    }
-
     pub trait PioCommon {
         type Pio: super::PioInstance;
     }
@@ -968,46 +962,28 @@ mod sealed {
         const SM_NO: u8;
     }
 
-    pub trait PioPeripheral {
-        type Pio: super::PioInstance;
+    pub trait PioInstance {
+        const PIO_NO: u8;
+        const PIO: &'static crate::pac::pio::Pio;
+        const FUNCSEL: crate::pac::io::vals::Gpio0ctrlFuncsel;
     }
 }
 
-// Identifies a specific PIO device
-pub struct PioInstanceBase<const PIO_NO: u8> {}
-
-pub trait PioInstance: sealed::PioInstance + Unpin {}
-
-impl sealed::PioInstance for PioInstanceBase<0> {
-    const PIO_NO: u8 = 0;
-    const PIO: &'static pac::pio::Pio = &pac::PIO0;
-    const FUNCSEL: pac::io::vals::Gpio0ctrlFuncsel = pac::io::vals::Gpio0ctrlFuncsel::PIO0_0;
-}
-impl PioInstance for PioInstanceBase<0> {}
-
-impl sealed::PioInstance for PioInstanceBase<1> {
-    const PIO_NO: u8 = 1;
-    const PIO: &'static pac::pio::Pio = &pac::PIO1;
-    const FUNCSEL: pac::io::vals::Gpio0ctrlFuncsel = pac::io::vals::Gpio0ctrlFuncsel::PIO1_0;
-}
-impl PioInstance for PioInstanceBase<1> {}
-
-pub type Pio0 = PioInstanceBase<0>;
-pub type Pio1 = PioInstanceBase<1>;
-
 pub type Sm0 = SmInstanceBase<0>;
 pub type Sm1 = SmInstanceBase<1>;
 pub type Sm2 = SmInstanceBase<2>;
 pub type Sm3 = SmInstanceBase<3>;
 
-macro_rules! impl_pio_sm {
-    ($name:ident, $pio:expr) => {
-        impl sealed::PioPeripheral for peripherals::$name {
-            type Pio = PioInstanceBase<$pio>;
+macro_rules! impl_pio {
+    ($name:ident, $pio:expr, $pac:ident, $funcsel:ident) => {
+        impl sealed::PioInstance for peripherals::$name {
+            const PIO_NO: u8 = $pio;
+            const PIO: &'static pac::pio::Pio = &pac::$pac;
+            const FUNCSEL: pac::io::vals::Gpio0ctrlFuncsel = pac::io::vals::Gpio0ctrlFuncsel::$funcsel;
         }
-        impl PioPeripheral for peripherals::$name {}
+        impl PioInstance for peripherals::$name {}
     };
 }
 
-impl_pio_sm!(PIO0, 0);
-impl_pio_sm!(PIO1, 1);
+impl_pio!(PIO0, 0, PIO0, PIO0_0);
+impl_pio!(PIO1, 1, PIO1, PIO1_0);
diff --git a/examples/rp/src/bin/pio_async.rs b/examples/rp/src/bin/pio_async.rs
index 1b075b8f..16a09327 100644
--- a/examples/rp/src/bin/pio_async.rs
+++ b/examples/rp/src/bin/pio_async.rs
@@ -4,15 +4,15 @@
 use defmt::info;
 use embassy_executor::Spawner;
 use embassy_rp::gpio::{AnyPin, Pin};
+use embassy_rp::peripherals::PIO0;
 use embassy_rp::pio::{
-    Pio0, PioCommon, PioCommonInstance, PioPeripheral, PioStateMachine, PioStateMachineInstance, ShiftDirection, Sm0,
-    Sm1, Sm2,
+    PioCommon, PioCommonInstance, PioInstance, PioStateMachine, PioStateMachineInstance, ShiftDirection, Sm0, Sm1, Sm2,
 };
 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 PioCommonInstance<Pio0>, sm: &mut PioStateMachineInstance<Pio0, Sm0>, pin: AnyPin) {
+fn setup_pio_task_sm0(pio: &mut PioCommonInstance<PIO0>, sm: &mut PioStateMachineInstance<PIO0, Sm0>, pin: AnyPin) {
     // Setup sm0
 
     // Send data serially to pin
@@ -40,7 +40,7 @@ fn setup_pio_task_sm0(pio: &mut PioCommonInstance<Pio0>, sm: &mut PioStateMachin
 }
 
 #[embassy_executor::task]
-async fn pio_task_sm0(mut sm: PioStateMachineInstance<Pio0, Sm0>) {
+async fn pio_task_sm0(mut sm: PioStateMachineInstance<PIO0, Sm0>) {
     sm.set_enable(true);
 
     let mut v = 0x0f0caffa;
@@ -51,7 +51,7 @@ async fn pio_task_sm0(mut sm: PioStateMachineInstance<Pio0, Sm0>) {
     }
 }
 
-fn setup_pio_task_sm1(pio: &mut PioCommonInstance<Pio0>, sm: &mut 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
@@ -70,7 +70,7 @@ fn setup_pio_task_sm1(pio: &mut PioCommonInstance<Pio0>, sm: &mut PioStateMachin
 }
 
 #[embassy_executor::task]
-async fn pio_task_sm1(mut sm: PioStateMachineInstance<Pio0, Sm1>) {
+async fn pio_task_sm1(mut sm: PioStateMachineInstance<PIO0, Sm1>) {
     sm.set_enable(true);
     loop {
         let rx = sm.wait_pull().await;
@@ -78,7 +78,7 @@ async fn pio_task_sm1(mut sm: PioStateMachineInstance<Pio0, Sm1>) {
     }
 }
 
-fn setup_pio_task_sm2(pio: &mut PioCommonInstance<Pio0>, sm: &mut PioStateMachineInstance<Pio0, Sm2>) {
+fn setup_pio_task_sm2(pio: &mut PioCommonInstance<PIO0>, sm: &mut PioStateMachineInstance<PIO0, Sm2>) {
     // Setup sm2
 
     // Repeatedly trigger IRQ 3
@@ -102,7 +102,7 @@ fn setup_pio_task_sm2(pio: &mut PioCommonInstance<Pio0>, sm: &mut PioStateMachin
 }
 
 #[embassy_executor::task]
-async fn pio_task_sm2(mut sm: PioStateMachineInstance<Pio0, Sm2>) {
+async fn pio_task_sm2(mut sm: PioStateMachineInstance<PIO0, Sm2>) {
     sm.set_enable(true);
     loop {
         sm.wait_irq(3).await;
diff --git a/examples/rp/src/bin/pio_dma.rs b/examples/rp/src/bin/pio_dma.rs
index 7d4919f7..ccbc70fe 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::{PioCommon, PioPeripheral, PioStateMachine, ShiftDirection};
+use embassy_rp::pio::{PioCommon, PioInstance, PioStateMachine, ShiftDirection};
 use embassy_rp::relocate::RelocatedProgram;
 use embassy_rp::{pio_instr_util, Peripheral};
 use {defmt_rtt as _, panic_probe as _};
diff --git a/examples/rp/src/bin/pio_hd44780.rs b/examples/rp/src/bin/pio_hd44780.rs
index 6bcd0652..1b24897b 100644
--- a/examples/rp/src/bin/pio_hd44780.rs
+++ b/examples/rp/src/bin/pio_hd44780.rs
@@ -9,8 +9,7 @@ use embassy_rp::dma::{AnyChannel, Channel};
 use embassy_rp::gpio::Pin;
 use embassy_rp::peripherals::PIO0;
 use embassy_rp::pio::{
-    FifoJoin, PioCommon, PioInstanceBase, PioPeripheral, PioStateMachine, PioStateMachineInstance, ShiftDirection,
-    SmInstanceBase,
+    FifoJoin, PioCommon, PioInstance, PioStateMachine, PioStateMachineInstance, ShiftDirection, SmInstanceBase,
 };
 use embassy_rp::pwm::{Config, Pwm};
 use embassy_rp::relocate::RelocatedProgram;
@@ -68,7 +67,7 @@ async fn main(_spawner: Spawner) {
 
 pub struct HD44780<'l> {
     dma: PeripheralRef<'l, AnyChannel>,
-    sm: PioStateMachineInstance<PioInstanceBase<0>, SmInstanceBase<0>>,
+    sm: PioStateMachineInstance<PIO0, SmInstanceBase<0>>,
 
     buf: [u8; 40],
 }
diff --git a/examples/rp/src/bin/ws2812-pio.rs b/examples/rp/src/bin/ws2812-pio.rs
index 041e8ae1..592caf24 100644
--- a/examples/rp/src/bin/ws2812-pio.rs
+++ b/examples/rp/src/bin/ws2812-pio.rs
@@ -6,8 +6,8 @@ use defmt::*;
 use embassy_executor::Spawner;
 use embassy_rp::gpio::{self, Pin};
 use embassy_rp::pio::{
-    FifoJoin, PioCommon, PioCommonInstance, PioInstance, PioPeripheral, PioStateMachine, PioStateMachineInstance,
-    ShiftDirection, SmInstance,
+    FifoJoin, PioCommon, PioCommonInstance, PioInstance, PioStateMachine, PioStateMachineInstance, ShiftDirection,
+    SmInstance,
 };
 use embassy_rp::pio_instr_util;
 use embassy_rp::relocate::RelocatedProgram;