diff --git a/embassy-rp/src/pio_programs/mod.rs b/embassy-rp/src/pio_programs/mod.rs
index 74a3714c77..26b45f7503 100644
--- a/embassy-rp/src/pio_programs/mod.rs
+++ b/embassy-rp/src/pio_programs/mod.rs
@@ -8,6 +8,7 @@ pub mod onewire;
 pub mod pwm;
 pub mod rotary_encoder;
 pub mod spi;
-pub mod stepper;
+pub mod stepper4;
+pub mod stepper2;
 pub mod uart;
 pub mod ws2812;
diff --git a/embassy-rp/src/pio_programs/stepper2.rs b/embassy-rp/src/pio_programs/stepper2.rs
new file mode 100644
index 0000000000..ac1cbba244
--- /dev/null
+++ b/embassy-rp/src/pio_programs/stepper2.rs
@@ -0,0 +1,72 @@
+use core::f64::consts::PI;
+use embassy_rp::{
+    Peri,
+    gpio::Output,
+    pio::{
+        Common, Config, Direction, Instance, LoadedProgram, PioPin, StateMachine,
+        program::pio_asm,
+    },
+    pio_programs::clock_divider::calculate_pio_clock_divider,
+};
+
+pub struct PioStepper2Program<'a, PIO: Instance> {
+    prg: LoadedProgram<'a, PIO>,
+}
+
+impl<'a, PIO: Instance> PioStepper2Program<'a, PIO> {
+    pub fn new(common: &mut Common<'a, PIO>) -> Self {
+        let prg = pio_asm!(
+            ".wrap_target",
+            "pull block",
+            "out x, 32",
+            "loop:",
+            "    set pins, 1  [31]",
+            "    set pins, 0  [31]",
+            "    jmp x-- loop",
+            ".wrap"
+        );
+
+        let prg = common.load_program(&prg.program);
+
+        Self { prg }
+    }
+}
+
+pub struct Stepper2<'d, T: Instance, const SM: usize> {
+    sm: StateMachine<'d, T, SM>,
+    dir: Output<'d>,
+}
+
+impl<'d, T: Instance, const SM: usize> Stepper2<'d, T, SM> {
+    pub fn new(
+        pio: &mut Common<'d, T>,
+        mut sm: StateMachine<'d, T, SM>,
+        stp: Peri<'d, impl PioPin>,
+        dir: Output<'d>,
+        program: &PioStepperProgram<'d, T>,
+    ) -> Self {
+        let stp = pio.make_pio_pin(stp);
+        sm.set_pin_dirs(Direction::Out, &[&stp]);
+
+        let mut cfg = Config::default();
+        cfg.set_set_pins(&[&stp]);
+
+        cfg.clock_divider =
+            calculate_pio_clock_divider(100 * 65);
+
+        cfg.use_program(&program.prg, &[]);
+        sm.set_config(&cfg);
+        sm.set_enable(true);
+        Self { sm, dir }
+    }
+
+    pub fn set_frequency(&mut self, freq: u32) {
+        let clock_divider = calculate_pio_clock_divider(freq * 65);
+        let divider_f32 = clock_divider.to_num::<f32>();
+        assert!(divider_f32 <= 65536.0, "clkdiv must be <= 65536");
+        assert!(divider_f32 >= 1.0, "clkdiv must be >= 1");
+
+        self.sm.set_clock_divider(clock_divider);
+        self.sm.clkdiv_restart();
+    }
+}
diff --git a/embassy-rp/src/pio_programs/stepper.rs b/embassy-rp/src/pio_programs/stepper4.rs
similarity index 93%
rename from embassy-rp/src/pio_programs/stepper.rs
rename to embassy-rp/src/pio_programs/stepper4.rs
index 5762ee1895..38793714db 100644
--- a/embassy-rp/src/pio_programs/stepper.rs
+++ b/embassy-rp/src/pio_programs/stepper4.rs
@@ -7,11 +7,11 @@ use crate::pio::{Common, Config, Direction, Instance, Irq, LoadedProgram, PioPin
 use crate::pio_programs::clock_divider::calculate_pio_clock_divider;
 
 /// This struct represents a Stepper driver program loaded into pio instruction memory.
-pub struct PioStepperProgram<'a, PIO: Instance> {
+pub struct PioStepper4Program<'a, PIO: Instance> {
     prg: LoadedProgram<'a, PIO>,
 }
 
-impl<'a, PIO: Instance> PioStepperProgram<'a, PIO> {
+impl<'a, PIO: Instance> PioStepper4Program<'a, PIO> {
     /// Load the program into the given pio
     pub fn new(common: &mut Common<'a, PIO>) -> Self {
         let prg = pio::pio_asm!(
@@ -37,12 +37,12 @@ impl<'a, PIO: Instance> PioStepperProgram<'a, PIO> {
 }
 
 /// Pio backed Stepper driver
-pub struct PioStepper<'d, T: Instance, const SM: usize> {
+pub struct PioStepper4<'d, T: Instance, const SM: usize> {
     irq: Irq<'d, T, SM>,
     sm: StateMachine<'d, T, SM>,
 }
 
-impl<'d, T: Instance, const SM: usize> PioStepper<'d, T, SM> {
+impl<'d, T: Instance, const SM: usize> PioStepper4<'d, T, SM> {
     /// Configure a state machine to drive a stepper
     pub fn new(
         pio: &mut Common<'d, T>,
@@ -52,7 +52,7 @@ impl<'d, T: Instance, const SM: usize> PioStepper<'d, T, SM> {
         pin1: Peri<'d, impl PioPin>,
         pin2: Peri<'d, impl PioPin>,
         pin3: Peri<'d, impl PioPin>,
-        program: &PioStepperProgram<'d, T>,
+        program: &PioStepper4Program<'d, T>,
     ) -> Self {
         let pin0 = pio.make_pio_pin(pin0);
         let pin1 = pio.make_pio_pin(pin1);
diff --git a/examples/rp/src/bin/pio_stepper.rs b/examples/rp/src/bin/pio_stepper.rs
index e8f203990f..f51e3aad4b 100644
--- a/examples/rp/src/bin/pio_stepper.rs
+++ b/examples/rp/src/bin/pio_stepper.rs
@@ -9,7 +9,7 @@ use embassy_executor::Spawner;
 use embassy_rp::bind_interrupts;
 use embassy_rp::peripherals::PIO0;
 use embassy_rp::pio::{InterruptHandler, Pio};
-use embassy_rp::pio_programs::stepper::{PioStepper, PioStepperProgram};
+use embassy_rp::pio_programs::stepper::{PioStepper4, PioStepper4Program};
 use embassy_time::{Duration, Timer, with_timeout};
 use {defmt_rtt as _, panic_probe as _};
 
@@ -24,8 +24,8 @@ async fn main(_spawner: Spawner) {
         mut common, irq0, sm0, ..
     } = Pio::new(p.PIO0, Irqs);
 
-    let prg = PioStepperProgram::new(&mut common);
-    let mut stepper = PioStepper::new(&mut common, sm0, irq0, p.PIN_4, p.PIN_5, p.PIN_6, p.PIN_7, &prg);
+    let prg = PioStepper4Program::new(&mut common);
+    let mut stepper = PioStepper4::new(&mut common, sm0, irq0, p.PIN_4, p.PIN_5, p.PIN_6, p.PIN_7, &prg);
     stepper.set_frequency(120);
     loop {
         info!("CW full steps");
diff --git a/examples/rp235x/src/bin/pio_stepper.rs b/examples/rp235x/src/bin/pio_stepper.rs
index 9b33710ad5..cc88de3294 100644
--- a/examples/rp235x/src/bin/pio_stepper.rs
+++ b/examples/rp235x/src/bin/pio_stepper.rs
@@ -9,7 +9,7 @@ use embassy_executor::Spawner;
 use embassy_rp::bind_interrupts;
 use embassy_rp::peripherals::PIO0;
 use embassy_rp::pio::{InterruptHandler, Pio};
-use embassy_rp::pio_programs::stepper::{PioStepper, PioStepperProgram};
+use embassy_rp::pio_programs::stepper::{PioStepper4, PioStepper4Program};
 use embassy_time::{Duration, Timer, with_timeout};
 use {defmt_rtt as _, panic_probe as _};
 
@@ -24,8 +24,8 @@ async fn main(_spawner: Spawner) {
         mut common, irq0, sm0, ..
     } = Pio::new(p.PIO0, Irqs);
 
-    let prg = PioStepperProgram::new(&mut common);
-    let mut stepper = PioStepper::new(&mut common, sm0, irq0, p.PIN_4, p.PIN_5, p.PIN_6, p.PIN_7, &prg);
+    let prg = PioStepper4Program::new(&mut common);
+    let mut stepper = PioStepper4::new(&mut common, sm0, irq0, p.PIN_4, p.PIN_5, p.PIN_6, p.PIN_7, &prg);
     stepper.set_frequency(120);
     loop {
         info!("CW full steps");