diff --git a/cyw43-pio/src/lib.rs b/cyw43-pio/src/lib.rs
index 5fe7af95d..b08e68307 100644
--- a/cyw43-pio/src/lib.rs
+++ b/cyw43-pio/src/lib.rs
@@ -8,7 +8,7 @@ use core::slice;
 use cyw43::SpiBusCyw43;
 use embassy_rp::dma::Channel;
 use embassy_rp::gpio::{Drive, Level, Output, Pull, SlewRate};
-use embassy_rp::pio::{instr, Common, Config, Direction, Instance, Irq, PioPin, ShiftDirection, StateMachine};
+use embassy_rp::pio::{Common, Config, Direction, Instance, Irq, PioPin, ShiftDirection, StateMachine};
 use embassy_rp::{Peripheral, PeripheralRef};
 use fixed::types::extra::U8;
 use fixed::FixedU32;
@@ -161,10 +161,10 @@ where
         defmt::trace!("write={} read={}", write_bits, read_bits);
 
         unsafe {
-            instr::set_x(&mut self.sm, write_bits as u32);
-            instr::set_y(&mut self.sm, read_bits as u32);
-            instr::set_pindir(&mut self.sm, 0b1);
-            instr::exec_jmp(&mut self.sm, self.wrap_target);
+            self.sm.set_x(write_bits as u32);
+            self.sm.set_y(read_bits as u32);
+            self.sm.set_pindir(0b1);
+            self.sm.exec_jmp(self.wrap_target);
         }
 
         self.sm.set_enable(true);
@@ -192,10 +192,10 @@ where
         defmt::trace!("cmd_read cmd = {:02x} len = {}", cmd, read.len());
 
         unsafe {
-            instr::set_y(&mut self.sm, read_bits as u32);
-            instr::set_x(&mut self.sm, write_bits as u32);
-            instr::set_pindir(&mut self.sm, 0b1);
-            instr::exec_jmp(&mut self.sm, self.wrap_target);
+            self.sm.set_y(read_bits as u32);
+            self.sm.set_x(write_bits as u32);
+            self.sm.set_pindir(0b1);
+            self.sm.exec_jmp(self.wrap_target);
         }
 
         // self.cs.set_low();
diff --git a/embassy-rp/src/pio/instr.rs b/embassy-rp/src/pio/instr.rs
index 9a44088c6..b15d507de 100644
--- a/embassy-rp/src/pio/instr.rs
+++ b/embassy-rp/src/pio/instr.rs
@@ -3,99 +3,101 @@ use pio::{InSource, InstructionOperands, JmpCondition, OutDestination, SetDestin
 
 use crate::pio::{Instance, StateMachine};
 
-/// Set value of scratch register X.
-pub unsafe fn set_x<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, value: u32) {
-    const OUT: u16 = InstructionOperands::OUT {
-        destination: OutDestination::X,
-        bit_count: 32,
+impl<'d, PIO: Instance, const SM: usize> StateMachine<'d, PIO, SM> {
+    /// Set value of scratch register X.
+    pub unsafe fn set_x(&mut self, value: u32) {
+        const OUT: u16 = InstructionOperands::OUT {
+            destination: OutDestination::X,
+            bit_count: 32,
+        }
+        .encode();
+        self.tx().push(value);
+        self.exec_instr(OUT);
     }
-    .encode();
-    sm.tx().push(value);
-    sm.exec_instr(OUT);
-}
 
-/// Get value of scratch register X.
-pub unsafe fn get_x<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>) -> u32 {
-    const IN: u16 = InstructionOperands::IN {
-        source: InSource::X,
-        bit_count: 32,
+    /// Get value of scratch register X.
+    pub unsafe fn get_x(&mut self) -> u32 {
+        const IN: u16 = InstructionOperands::IN {
+            source: InSource::X,
+            bit_count: 32,
+        }
+        .encode();
+        self.exec_instr(IN);
+        self.rx().pull()
     }
-    .encode();
-    sm.exec_instr(IN);
-    sm.rx().pull()
-}
 
-/// Set value of scratch register Y.
-pub unsafe fn set_y<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, value: u32) {
-    const OUT: u16 = InstructionOperands::OUT {
-        destination: OutDestination::Y,
-        bit_count: 32,
+    /// Set value of scratch register Y.
+    pub unsafe fn set_y(&mut self, value: u32) {
+        const OUT: u16 = InstructionOperands::OUT {
+            destination: OutDestination::Y,
+            bit_count: 32,
+        }
+        .encode();
+        self.tx().push(value);
+        self.exec_instr(OUT);
     }
-    .encode();
-    sm.tx().push(value);
-    sm.exec_instr(OUT);
-}
 
-/// Get value of scratch register Y.
-pub unsafe fn get_y<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>) -> u32 {
-    const IN: u16 = InstructionOperands::IN {
-        source: InSource::Y,
-        bit_count: 32,
+    /// Get value of scratch register Y.
+    pub unsafe fn get_y(&mut self) -> u32 {
+        const IN: u16 = InstructionOperands::IN {
+            source: InSource::Y,
+            bit_count: 32,
+        }
+        .encode();
+        self.exec_instr(IN);
+
+        self.rx().pull()
     }
-    .encode();
-    sm.exec_instr(IN);
 
-    sm.rx().pull()
-}
-
-/// Set instruction for pindir destination.
-pub unsafe fn set_pindir<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, data: u8) {
-    let set: u16 = InstructionOperands::SET {
-        destination: SetDestination::PINDIRS,
-        data,
+    /// Set instruction for pindir destination.
+    pub unsafe fn set_pindir(&mut self, data: u8) {
+        let set: u16 = InstructionOperands::SET {
+            destination: SetDestination::PINDIRS,
+            data,
+        }
+        .encode();
+        self.exec_instr(set);
     }
-    .encode();
-    sm.exec_instr(set);
-}
 
-/// Set instruction for pin destination.
-pub unsafe fn set_pin<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, data: u8) {
-    let set: u16 = InstructionOperands::SET {
-        destination: SetDestination::PINS,
-        data,
+    /// Set instruction for pin destination.
+    pub unsafe fn set_pin(&mut self, data: u8) {
+        let set: u16 = InstructionOperands::SET {
+            destination: SetDestination::PINS,
+            data,
+        }
+        .encode();
+        self.exec_instr(set);
     }
-    .encode();
-    sm.exec_instr(set);
-}
 
-/// Out instruction for pin destination.
-pub unsafe fn set_out_pin<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, data: u32) {
-    const OUT: u16 = InstructionOperands::OUT {
-        destination: OutDestination::PINS,
-        bit_count: 32,
+    /// Out instruction for pin destination.
+    pub unsafe fn set_out_pin(&mut self, data: u32) {
+        const OUT: u16 = InstructionOperands::OUT {
+            destination: OutDestination::PINS,
+            bit_count: 32,
+        }
+        .encode();
+        self.tx().push(data);
+        self.exec_instr(OUT);
     }
-    .encode();
-    sm.tx().push(data);
-    sm.exec_instr(OUT);
-}
 
-/// Out instruction for pindir destination.
-pub unsafe fn set_out_pindir<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, data: u32) {
-    const OUT: u16 = InstructionOperands::OUT {
-        destination: OutDestination::PINDIRS,
-        bit_count: 32,
+    /// Out instruction for pindir destination.
+    pub unsafe fn set_out_pindir(&mut self, data: u32) {
+        const OUT: u16 = InstructionOperands::OUT {
+            destination: OutDestination::PINDIRS,
+            bit_count: 32,
+        }
+        .encode();
+        self.tx().push(data);
+        self.exec_instr(OUT);
     }
-    .encode();
-    sm.tx().push(data);
-    sm.exec_instr(OUT);
-}
 
-/// Jump instruction to address.
-pub unsafe fn exec_jmp<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, to_addr: u8) {
-    let jmp: u16 = InstructionOperands::JMP {
-        address: to_addr,
-        condition: JmpCondition::Always,
+    /// Jump instruction to address.
+    pub unsafe fn exec_jmp(&mut self, to_addr: u8) {
+        let jmp: u16 = InstructionOperands::JMP {
+            address: to_addr,
+            condition: JmpCondition::Always,
+        }
+        .encode();
+        self.exec_instr(jmp);
     }
-    .encode();
-    sm.exec_instr(jmp);
 }
diff --git a/embassy-rp/src/pio/mod.rs b/embassy-rp/src/pio/mod.rs
index 2776f9e3c..d4c0af55e 100644
--- a/embassy-rp/src/pio/mod.rs
+++ b/embassy-rp/src/pio/mod.rs
@@ -18,7 +18,7 @@ use crate::interrupt::typelevel::{Binding, Handler, Interrupt};
 use crate::relocate::RelocatedProgram;
 use crate::{pac, peripherals, RegExt};
 
-pub mod instr;
+mod instr;
 
 /// Wakers for interrupts and FIFOs.
 pub struct Wakers([AtomicWaker; 12]);
@@ -812,7 +812,7 @@ impl<'d, PIO: Instance + 'd, const SM: usize> StateMachine<'d, PIO, SM> {
         }
 
         if let Some(origin) = config.origin {
-            unsafe { instr::exec_jmp(self, origin) }
+            unsafe { self.exec_jmp(origin) }
         }
     }