diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml
index f784ab33..e7a1324c 100644
--- a/embassy-rp/Cargo.toml
+++ b/embassy-rp/Cargo.toml
@@ -29,7 +29,6 @@ time-driver = []
 rom-func-cache = []
 intrinsics = []
 rom-v2-intrinsics = []
-pio = ["dep:pio", "dep:pio-proc"]
 
 # Enable nightly-only features
 nightly = ["embassy-executor/nightly", "embedded-hal-1", "embedded-hal-async", "embassy-embedded-hal/nightly", "dep:embassy-usb-driver", "dep:embedded-io"]
@@ -70,5 +69,5 @@ embedded-hal-async = { version = "=0.2.0-alpha.1", optional = true}
 embedded-hal-nb = { version = "=1.0.0-alpha.2", optional = true}
 
 paste = "1.0"
-pio-proc = {version= "0.2", optional = true}
-pio = {version= "0.2.1", optional = true}
+pio-proc = {version= "0.2" }
+pio = {version= "0.2.1" }
diff --git a/embassy-rp/src/lib.rs b/embassy-rp/src/lib.rs
index aa866032..697f4308 100644
--- a/embassy-rp/src/lib.rs
+++ b/embassy-rp/src/lib.rs
@@ -11,20 +11,16 @@ mod critical_section_impl;
 mod intrinsics;
 
 pub mod adc;
+pub mod clocks;
 pub mod dma;
+pub mod flash;
 mod float;
 pub mod gpio;
 pub mod i2c;
 pub mod interrupt;
-
-#[cfg(feature = "pio")]
-pub mod pio;
-#[cfg(feature = "pio")]
-pub mod pio_instr_util;
+pub mod multicore;
 pub mod pwm;
-#[cfg(feature = "pio")]
-pub mod relocate;
-
+mod reset;
 pub mod rom_data;
 pub mod rtc;
 pub mod spi;
@@ -33,15 +29,15 @@ pub mod timer;
 pub mod uart;
 #[cfg(feature = "nightly")]
 pub mod usb;
-
-pub mod clocks;
-pub mod flash;
-pub mod multicore;
-mod reset;
 pub mod watchdog;
 
-// Reexports
+// PIO
+// TODO: move `pio_instr_util` and `relocate` to inside `pio`
+pub mod pio;
+pub mod pio_instr_util;
+pub mod relocate;
 
+// Reexports
 pub use embassy_cortex_m::executor;
 pub use embassy_cortex_m::interrupt::_export::interrupt;
 pub use embassy_hal_common::{into_ref, Peripheral, PeripheralRef};
diff --git a/examples/rp/Cargo.toml b/examples/rp/Cargo.toml
index 45af8762..7f65a00d 100644
--- a/examples/rp/Cargo.toml
+++ b/examples/rp/Cargo.toml
@@ -10,7 +10,7 @@ embassy-embedded-hal = { version = "0.1.0", path = "../../embassy-embedded-hal",
 embassy-sync = { version = "0.2.0", path = "../../embassy-sync", features = ["defmt"] }
 embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["nightly", "unstable-traits", "defmt", "defmt-timestamp-uptime"] }
-embassy-rp = { version = "0.1.0", path = "../../embassy-rp", features = ["defmt", "unstable-traits", "nightly", "unstable-pac", "time-driver", "pio", "critical-section-impl"] }
+embassy-rp = { version = "0.1.0", path = "../../embassy-rp", features = ["defmt", "unstable-traits", "nightly", "unstable-pac", "time-driver", "critical-section-impl"] }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }
 embassy-net = { version = "0.1.0", path = "../../embassy-net", features = ["defmt", "nightly", "tcp", "dhcpv4", "medium-ethernet"] }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }