diff --git a/locale/circuitpython.pot b/locale/circuitpython.pot
index 2e31d5dfc1..afff80687e 100644
--- a/locale/circuitpython.pot
+++ b/locale/circuitpython.pot
@@ -1042,10 +1042,6 @@ msgstr ""
 msgid "Group already used"
 msgstr ""
 
-#: shared-module/displayio/Group.c
-msgid "Group full"
-msgstr ""
-
 #: ports/mimxrt10xx/common-hal/busio/SPI.c ports/stm/common-hal/busio/I2C.c
 #: ports/stm/common-hal/busio/SPI.c ports/stm/common-hal/canio/CAN.c
 #: ports/stm/common-hal/sdioio/SDCard.c
@@ -1787,6 +1783,10 @@ msgid ""
 "constructor"
 msgstr ""
 
+#: ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.c
+msgid "Pins must be sequential"
+msgstr ""
+
 #: ports/raspberrypi/common-hal/audiopwmio/PWMAudioOut.c
 msgid "Pins must share PWM slice"
 msgstr ""
@@ -3743,6 +3743,10 @@ msgstr ""
 msgid "pressing both buttons at start up.\n"
 msgstr ""
 
+#: ports/raspberrypi/common-hal/rp2pio/StateMachine.c
+msgid "pull masks conflict with direction masks"
+msgstr ""
+
 #: ports/raspberrypi/bindings/rp2pio/StateMachine.c
 msgid "pull_threshold must be between 1 and 32"
 msgstr ""
diff --git a/ports/raspberrypi/bindings/rp2pio/StateMachine.c b/ports/raspberrypi/bindings/rp2pio/StateMachine.c
index 444e00ace3..90fd7f95e7 100644
--- a/ports/raspberrypi/bindings/rp2pio/StateMachine.c
+++ b/ports/raspberrypi/bindings/rp2pio/StateMachine.c
@@ -69,6 +69,8 @@
 //|                  initial_out_pin_direction: int = 0xffffffff,
 //|                  first_in_pin: Optional[microcontroller.Pin] = None,
 //|                  in_pin_count: int = 1,
+//|                  pull_in_pin_up: int = 0,
+//|                  pull_in_pin_down: int = 0,
 //|                  first_set_pin: Optional[microcontroller.Pin] = None,
 //|                  set_pin_count: int = 1,
 //|                  initial_set_pin_state: int = 0,
@@ -99,6 +101,8 @@
 //|         :param int initial_out_pin_direction: the initial output direction for out pins starting at first_out_pin
 //|         :param ~microcontroller.Pin first_in_pin: the first pin to use with the IN instruction
 //|         :param int in_pin_count: the count of consecutive pins to use with IN starting at first_in_pin
+//|         :param int pull_in_pin_up: a 1-bit in this mask sets pull up on the corresponding in pin
+//|         :param int pull_in_pin_down: a 1-bit in this mask sets pull up on the corresponding in pin. Setting both pulls enables a "bus keep" function, i.e. a weak pull to whatever is current high/low state of GPIO.
 //|         :param ~microcontroller.Pin first_set_pin: the first pin to use with the SET instruction
 //|         :param int set_pin_count: the count of consecutive pins to use with SET starting at first_set_pin
 //|         :param int initial_set_pin_state: the initial output value for set pins starting at first_set_pin
@@ -133,6 +137,7 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
     enum { ARG_program, ARG_frequency, ARG_init,
            ARG_first_out_pin, ARG_out_pin_count, ARG_initial_out_pin_state, ARG_initial_out_pin_direction,
            ARG_first_in_pin, ARG_in_pin_count,
+           ARG_pull_in_pin_up, ARG_pull_in_pin_down,
            ARG_first_set_pin, ARG_set_pin_count, ARG_initial_set_pin_state, ARG_initial_set_pin_direction,
            ARG_first_sideset_pin, ARG_sideset_pin_count, ARG_initial_sideset_pin_state, ARG_initial_sideset_pin_direction,
            ARG_exclusive_pin_use,
@@ -151,6 +156,8 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
 
         { MP_QSTR_first_in_pin, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
         { MP_QSTR_in_pin_count, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} },
+        { MP_QSTR_pull_in_pin_up, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
+        { MP_QSTR_pull_in_pin_down, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
 
         { MP_QSTR_first_set_pin, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
         { MP_QSTR_set_pin_count, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} },
@@ -233,7 +240,7 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
         args[ARG_frequency].u_int,
         init_bufinfo.buf, init_bufinfo.len / 2,
         first_out_pin, args[ARG_out_pin_count].u_int, args[ARG_initial_out_pin_state].u_int, args[ARG_initial_out_pin_direction].u_int,
-        first_in_pin, args[ARG_in_pin_count].u_int,
+        first_in_pin, args[ARG_in_pin_count].u_int, args[ARG_pull_in_pin_up].u_int, args[ARG_pull_in_pin_down].u_int,
         first_set_pin, args[ARG_set_pin_count].u_int, args[ARG_initial_set_pin_state].u_int, args[ARG_initial_set_pin_direction].u_int,
         first_sideset_pin, args[ARG_sideset_pin_count].u_int, args[ARG_initial_sideset_pin_state].u_int, args[ARG_initial_sideset_pin_direction].u_int,
         args[ARG_exclusive_pin_use].u_bool,
@@ -548,6 +555,24 @@ const mp_obj_property_t rp2pio_statemachine_rxstall_obj = {
               (mp_obj_t)&mp_const_none_obj},
 };
 
+//|     in_waiting: int
+//|     """The number of words available to readinto"""
+//|
+
+STATIC mp_obj_t rp2pio_statemachine_obj_get_in_waiting(mp_obj_t self_in) {
+    rp2pio_statemachine_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    return MP_OBJ_NEW_SMALL_INT(common_hal_rp2pio_statemachine_get_in_waiting(self));
+}
+MP_DEFINE_CONST_FUN_OBJ_1(rp2pio_statemachine_get_in_waiting_obj, rp2pio_statemachine_obj_get_in_waiting);
+
+const mp_obj_property_t rp2pio_statemachine_in_waiting_obj = {
+    .base.type = &mp_type_property,
+    .proxy = {(mp_obj_t)&rp2pio_statemachine_get_in_waiting_obj,
+              (mp_obj_t)&mp_const_none_obj,
+              (mp_obj_t)&mp_const_none_obj},
+};
+
 STATIC const mp_rom_map_elem_t rp2pio_statemachine_locals_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&rp2pio_statemachine_deinit_obj) },
     { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&default___enter___obj) },
@@ -563,7 +588,8 @@ STATIC const mp_rom_map_elem_t rp2pio_statemachine_locals_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR_write_readinto), MP_ROM_PTR(&rp2pio_statemachine_write_readinto_obj) },
 
     { MP_ROM_QSTR(MP_QSTR_frequency), MP_ROM_PTR(&rp2pio_statemachine_frequency_obj) },
-    { MP_ROM_QSTR(MP_QSTR_rxstall), MP_ROM_PTR(&rp2pio_statemachine_rxstall_obj) }
+    { MP_ROM_QSTR(MP_QSTR_rxstall), MP_ROM_PTR(&rp2pio_statemachine_rxstall_obj) },
+    { MP_ROM_QSTR(MP_QSTR_in_waiting), MP_ROM_PTR(&rp2pio_statemachine_in_waiting_obj) },
 };
 STATIC MP_DEFINE_CONST_DICT(rp2pio_statemachine_locals_dict, rp2pio_statemachine_locals_dict_table);
 
diff --git a/ports/raspberrypi/bindings/rp2pio/StateMachine.h b/ports/raspberrypi/bindings/rp2pio/StateMachine.h
index 36e44f1918..3a0d4290d5 100644
--- a/ports/raspberrypi/bindings/rp2pio/StateMachine.h
+++ b/ports/raspberrypi/bindings/rp2pio/StateMachine.h
@@ -41,7 +41,7 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     size_t frequency,
     const uint16_t* init, size_t init_len,
     const mcu_pin_obj_t * first_out_pin, uint8_t out_pin_count, uint32_t initial_out_pin_state, uint32_t initial_out_pin_direction,
-    const mcu_pin_obj_t * first_in_pin, uint8_t in_pin_count,
+    const mcu_pin_obj_t * first_in_pin, uint8_t in_pin_count, uint32_t pull_pin_up, uint32_t pull_pin_down,
     const mcu_pin_obj_t * first_set_pin, uint8_t set_pin_count, uint32_t initial_set_pin_state, uint32_t initial_set_pin_direction,
     const mcu_pin_obj_t * first_sideset_pin, uint8_t sideset_pin_count, uint32_t initial_sideset_pin_state, uint32_t initial_sideset_pin_direction,
     bool exclusive_pin_use,
@@ -69,5 +69,8 @@ void common_hal_rp2pio_statemachine_set_frequency(rp2pio_statemachine_obj_t* sel
 
 bool common_hal_rp2pio_statemachine_get_rxstall(rp2pio_statemachine_obj_t* self);
 void common_hal_rp2pio_statemachine_clear_rxfifo(rp2pio_statemachine_obj_t *self);
+size_t common_hal_rp2pio_statemachine_get_in_waiting(rp2pio_statemachine_obj_t *self);
+
+void common_hal_rp2pio_statemachine_set_interrupt_handler(rp2pio_statemachine_obj_t *self, void(*handler)(void*), void *arg, int mask);
 
 #endif // MICROPY_INCLUDED_RASPBERRYPI_BINDINGS_RP2PIO_STATEMACHINE_H
diff --git a/ports/raspberrypi/bindings/rp2pio/__init__.c b/ports/raspberrypi/bindings/rp2pio/__init__.c
index dd5808cd5e..7eab423e9e 100644
--- a/ports/raspberrypi/bindings/rp2pio/__init__.c
+++ b/ports/raspberrypi/bindings/rp2pio/__init__.c
@@ -28,13 +28,28 @@
 #include "py/runtime.h"
 
 #include "bindings/rp2pio/StateMachine.h"
+#include "bindings/rp2pio/__init__.h"
 
 //| """Hardware interface to RP2 series' programmable IO (PIO) peripheral."""
 //|
 
+//| def pins_are_sequential(pins: List[microcontroller.Pin]) -> bool:
+//|     """Return True if the pins have sequential GPIO numbers, False otherwise"""
+//|     ...
+//|
+STATIC mp_obj_t rp2pio_pins_are_sequential(const mp_obj_t pins) {
+    size_t len;
+    mp_obj_t *items;
+    mp_obj_get_array(pins, &len, &items);
+    return mp_obj_new_bool(common_hal_rp2pio_pins_are_sequential(len, items));
+}
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(rp2pio_pins_are_sequential_obj, rp2pio_pins_are_sequential);
+
 STATIC const mp_rom_map_elem_t rp2pio_module_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_rp2pio) },
     { MP_ROM_QSTR(MP_QSTR_StateMachine),  MP_ROM_PTR(&rp2pio_statemachine_type) },
+    { MP_ROM_QSTR(MP_QSTR_pins_are_sequential),  MP_ROM_PTR(&rp2pio_pins_are_sequential_obj) },
 };
 
 STATIC MP_DEFINE_CONST_DICT(rp2pio_module_globals, rp2pio_module_globals_table);
diff --git a/ports/raspberrypi/bindings/rp2pio/__init__.h b/ports/raspberrypi/bindings/rp2pio/__init__.h
new file mode 100644
index 0000000000..89dc7ff98f
--- /dev/null
+++ b/ports/raspberrypi/bindings/rp2pio/__init__.h
@@ -0,0 +1,29 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Jeff Epler for Adafruit Industries
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+bool common_hal_rp2pio_pins_are_sequential(size_t len, mp_obj_t *items);
diff --git a/ports/raspberrypi/common-hal/audiobusio/I2SOut.c b/ports/raspberrypi/common-hal/audiobusio/I2SOut.c
index 83a443834e..fa5852fce5 100644
--- a/ports/raspberrypi/common-hal/audiobusio/I2SOut.c
+++ b/ports/raspberrypi/common-hal/audiobusio/I2SOut.c
@@ -122,6 +122,7 @@ void common_hal_audiobusio_i2sout_construct(audiobusio_i2sout_obj_t* self,
         NULL, 0,
         data, 1, 0, 0xffffffff, // out pin
         NULL, 0, // in pins
+        0, 0, // in pulls
         NULL, 0, 0, 0x1f, // set pins
         bit_clock, 2, 0, 0x1f, // sideset pins
         true, // exclusive pin use
diff --git a/ports/raspberrypi/common-hal/audiobusio/PDMIn.c b/ports/raspberrypi/common-hal/audiobusio/PDMIn.c
index ffe09326f3..8836602712 100644
--- a/ports/raspberrypi/common-hal/audiobusio/PDMIn.c
+++ b/ports/raspberrypi/common-hal/audiobusio/PDMIn.c
@@ -68,6 +68,7 @@ void common_hal_audiobusio_pdmin_construct(audiobusio_pdmin_obj_t* self,
         NULL, 0,
         NULL, 1, 0, 0xffffffff, // out pin
         data_pin, 1, // in pins
+        0, 0, // in pulls
         NULL, 0, 0, 0x1f, // set pins
         clock_pin, 1, 0, 0x1f, // sideset pins
         true, // exclusive pin use
@@ -92,6 +93,7 @@ void common_hal_audiobusio_pdmin_deinit(audiobusio_pdmin_obj_t* self) {
     if (common_hal_audiobusio_pdmin_deinited(self)) {
         return;
     }
+    return common_hal_rp2pio_statemachine_deinit(&self->state_machine);
 }
 
 uint8_t common_hal_audiobusio_pdmin_get_bit_depth(audiobusio_pdmin_obj_t* self) {
diff --git a/ports/raspberrypi/common-hal/neopixel_write/__init__.c b/ports/raspberrypi/common-hal/neopixel_write/__init__.c
index 1f0b71ca09..b57cb2bdea 100644
--- a/ports/raspberrypi/common-hal/neopixel_write/__init__.c
+++ b/ports/raspberrypi/common-hal/neopixel_write/__init__.c
@@ -67,6 +67,7 @@ void common_hal_neopixel_write(const digitalio_digitalinout_obj_t* digitalinout,
         NULL, 0, // init program
         NULL, 1, // out
         NULL, 1, // in
+        0, 0, // in pulls
         NULL, 1, // set
         digitalinout->pin, 1, // sideset
         0, pins_we_use, // initial pin state
diff --git a/ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.c b/ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.c
new file mode 100644
index 0000000000..b2225991d6
--- /dev/null
+++ b/ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.c
@@ -0,0 +1,170 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2018 Scott Shawcroft for Adafruit Industries
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "py/runtime.h"
+
+#include <hardware/regs/pio.h>
+#include "common-hal/rotaryio/IncrementalEncoder.h"
+#include "bindings/rp2pio/__init__.h"
+#include "bindings/rp2pio/StateMachine.h"
+
+STATIC const uint16_t encoder[] = {
+    //  again:
+    //      in pins, 2
+    0x4002,
+    //      mov x, isr
+    0xa026,
+    //      jmp x!=y, push_data
+    0x00a5,
+    //      mov isr, null
+    0xa0c3,
+    //      jmp again
+    0x0000,
+    //  push_data:
+    //      push
+    0x8020,
+    //      mov y, x
+    0xa041,
+};
+
+STATIC const uint16_t encoder_init[] = {
+    //      set y, 31
+    0xe05f,
+};
+
+STATIC void incrementalencoder_interrupt_handler(void *self_in);
+
+void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencoder_obj_t* self,
+    const mcu_pin_obj_t* pin_a, const mcu_pin_obj_t* pin_b) {
+    mp_obj_t pins[] = {MP_OBJ_FROM_PTR(pin_a), MP_OBJ_FROM_PTR(pin_b)};
+    if (!common_hal_rp2pio_pins_are_sequential(2, pins)) {
+        mp_raise_RuntimeError(translate("Pins must be sequential"));
+    }
+
+    self->position = 0;
+    self->quarter_count = 0;
+
+    common_hal_rp2pio_statemachine_construct(&self->state_machine,
+        encoder, MP_ARRAY_SIZE(encoder),
+        1000000,
+        encoder_init, MP_ARRAY_SIZE(encoder_init), // init
+        NULL, 1, 0, 0xffffffff, // out pin
+        pin_a, 2, // in pins
+        3, 0, // in pulls
+        NULL, 0, 0, 0x1f, // set pins
+        NULL, 0, 0, 0x1f, // sideset pins
+        true, // exclusive pin use
+        false, 32, false, // out settings
+        false, // Wait for txstall
+        false, 32, false); // in settings
+
+    common_hal_rp2pio_statemachine_run(&self->state_machine, encoder_init, MP_ARRAY_SIZE(encoder_init));
+
+    // We're guaranteed by the init code that some output will be available promptly
+    uint8_t state;
+    common_hal_rp2pio_statemachine_readinto(&self->state_machine, &state, 1, 1);
+    // Top two bits of self->last_state don't matter, because they'll be gone as soon as
+    // interrupt handler is called.
+    self->last_state = state & 3;
+
+    common_hal_rp2pio_statemachine_set_interrupt_handler(&self->state_machine, incrementalencoder_interrupt_handler, self, PIO_IRQ0_INTF_SM0_RXNEMPTY_BITS);
+}
+
+bool common_hal_rotaryio_incrementalencoder_deinited(rotaryio_incrementalencoder_obj_t* self) {
+    return common_hal_rp2pio_statemachine_deinited(&self->state_machine);
+}
+
+void common_hal_rotaryio_incrementalencoder_deinit(rotaryio_incrementalencoder_obj_t* self) {
+    if (common_hal_rotaryio_incrementalencoder_deinited(self)) {
+        return;
+    }
+    common_hal_rp2pio_statemachine_deinit(&self->state_machine);
+}
+
+mp_int_t common_hal_rotaryio_incrementalencoder_get_position(rotaryio_incrementalencoder_obj_t* self) {
+    return self->position;
+}
+
+void common_hal_rotaryio_incrementalencoder_set_position(rotaryio_incrementalencoder_obj_t* self,
+        mp_int_t new_position) {
+    self->position = new_position;
+}
+
+STATIC void incrementalencoder_interrupt_handler(void *self_in) {
+    rotaryio_incrementalencoder_obj_t* self = self_in;
+    // This table also works for detent both at 11 and 00
+    // For 11 at detent:
+    // Turning cw: 11->01->00->10->11
+    // Turning ccw: 11->10->00->01->11
+    // For 00 at detent:
+    // Turning cw: 00->10->11->10->00
+    // Turning ccw: 00->01->11->10->00
+
+    // index table by state <oldA><oldB><newA><newB>
+    #define BAD 7
+    static const int8_t transitions[16] = {
+        0,    // 00 -> 00 no movement
+        -1,   // 00 -> 01 3/4 ccw (11 detent) or 1/4 ccw (00 at detent)
+        +1,   // 00 -> 10 3/4 cw or 1/4 cw
+        BAD,  // 00 -> 11 non-Gray-code transition
+        +1,   // 01 -> 00 2/4 or 4/4 cw
+        0,    // 01 -> 01 no movement
+        BAD,  // 01 -> 10 non-Gray-code transition
+        -1,   // 01 -> 11 4/4 or 2/4 ccw
+        -1,   // 10 -> 00 2/4 or 4/4 ccw
+        BAD,  // 10 -> 01 non-Gray-code transition
+        0,    // 10 -> 10 no movement
+        +1,   // 10 -> 11 4/4 or 2/4 cw
+        BAD,  // 11 -> 00 non-Gray-code transition
+        +1,   // 11 -> 01 1/4 or 3/4 cw
+        -1,   // 11 -> 10 1/4 or 3/4 ccw
+        0,    // 11 -> 11 no movement
+    };
+
+    while (common_hal_rp2pio_statemachine_get_in_waiting(&self->state_machine)) {
+        // Bypass all the logic of StateMachine.c:_transfer, we need something
+        // very simple and fast for an interrupt!
+        uint8_t new = self->state_machine.pio->rxf[self->state_machine.state_machine];
+
+        // Shift the old AB bits to the "old" position, and set the new AB bits.
+        self->last_state = (self->last_state & 0x3) << 2 | (new & 0x3);
+
+        int8_t quarter_incr = transitions[self->last_state];
+        if (quarter_incr == BAD) {
+            // Missed a transition. We don't know which way we're going, so do nothing.
+            return;
+        }
+
+        self->quarter_count += quarter_incr;
+        if (self->quarter_count >= 4) {
+            self->position += 1;
+            self->quarter_count = 0;
+        } else if (self->quarter_count <= -4) {
+            self->position -= 1;
+            self->quarter_count = 0;
+        }
+    }
+}
diff --git a/ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.h b/ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.h
new file mode 100644
index 0000000000..ff5c874c83
--- /dev/null
+++ b/ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.h
@@ -0,0 +1,40 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2018 Scott Shawcroft for Adafruit Industries
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include "common-hal/rp2pio/StateMachine.h"
+#include "common-hal/microcontroller/Pin.h"
+
+#include "py/obj.h"
+
+typedef struct {
+    mp_obj_base_t base;
+    rp2pio_statemachine_obj_t state_machine;
+    uint8_t last_state:4;   // <old A><old B><new A><new B>
+    int8_t quarter_count:4; // count intermediate transitions between detents
+    mp_int_t position;
+} rotaryio_incrementalencoder_obj_t;
diff --git a/ports/raspberrypi/common-hal/rotaryio/__init__.c b/ports/raspberrypi/common-hal/rotaryio/__init__.c
new file mode 100644
index 0000000000..0aae79c26a
--- /dev/null
+++ b/ports/raspberrypi/common-hal/rotaryio/__init__.c
@@ -0,0 +1 @@
+// No rotaryio module functions.
diff --git a/ports/raspberrypi/common-hal/rotaryio/__init__.h b/ports/raspberrypi/common-hal/rotaryio/__init__.h
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/ports/raspberrypi/common-hal/rp2pio/StateMachine.c b/ports/raspberrypi/common-hal/rp2pio/StateMachine.c
index e81d721c61..672cd4d3cf 100644
--- a/ports/raspberrypi/common-hal/rp2pio/StateMachine.c
+++ b/ports/raspberrypi/common-hal/rp2pio/StateMachine.c
@@ -27,6 +27,7 @@
 #include "bindings/rp2pio/StateMachine.h"
 
 #include "common-hal/microcontroller/__init__.h"
+#include "shared-bindings/microcontroller/__init__.h"
 #include "shared-bindings/microcontroller/Pin.h"
 
 #include "src/rp2040/hardware_regs/include/hardware/platform_defs.h"
@@ -52,6 +53,22 @@ STATIC uint32_t _current_pins[NUM_PIOS];
 STATIC uint32_t _current_sm_pins[NUM_PIOS][NUM_PIO_STATE_MACHINES];
 
 STATIC PIO pio_instances[2] = {pio0, pio1};
+typedef void (*interrupt_handler_type)(void*);
+STATIC interrupt_handler_type _interrupt_handler[NUM_PIOS][NUM_PIO_STATE_MACHINES];
+STATIC void *_interrupt_arg[NUM_PIOS][NUM_PIO_STATE_MACHINES];
+
+STATIC void rp2pio_statemachine_interrupt_handler(void);
+
+static void rp2pio_statemachine_set_pull(uint32_t pull_pin_up, uint32_t pull_pin_down, uint32_t pins_we_use) {
+    for (int i=0; i<TOTAL_GPIO_COUNT; i++) {
+        bool used = pins_we_use & (1 << i);
+        if(used) {
+            bool pull_up = pull_pin_up & (1 << i);
+            bool pull_down = pull_pin_down & (1 << i);
+            gpio_set_pulls(i, pull_up, pull_down);
+        }
+    }
+}
 
 void _reset_statemachine(PIO pio, uint8_t sm, bool leave_pins) {
     uint8_t pio_index = pio_get_index(pio);
@@ -89,6 +106,7 @@ void _reset_statemachine(PIO pio, uint8_t sm, bool leave_pins) {
         }
     }
     _current_sm_pins[pio_index][sm] = 0;
+    pio->inte0 &= ~((PIO_IRQ0_INTF_SM0_RXNEMPTY_BITS | PIO_IRQ0_INTF_SM0_TXNFULL_BITS | PIO_IRQ0_INTF_SM0_BITS) << sm);
     pio_sm_unclaim(pio, sm);
 }
 
@@ -136,6 +154,7 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     const uint16_t* init, size_t init_len,
     const mcu_pin_obj_t * first_out_pin, uint8_t out_pin_count,
     const mcu_pin_obj_t * first_in_pin, uint8_t in_pin_count,
+    uint32_t pull_pin_up, uint32_t pull_pin_down,
     const mcu_pin_obj_t * first_set_pin, uint8_t set_pin_count,
     const mcu_pin_obj_t * first_sideset_pin, uint8_t sideset_pin_count,
     uint32_t initial_pin_state, uint32_t initial_pin_direction,
@@ -211,8 +230,11 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
 
     pio_sm_set_pins_with_mask(self->pio, state_machine, initial_pin_state, pins_we_use);
     pio_sm_set_pindirs_with_mask(self->pio, state_machine, initial_pin_direction, pins_we_use);
+    rp2pio_statemachine_set_pull(pull_pin_up, pull_pin_down, pins_we_use);
     self->initial_pin_state = initial_pin_state;
     self->initial_pin_direction = initial_pin_direction;
+    self->pull_pin_up = pull_pin_up;
+    self->pull_pin_down = pull_pin_down;
 
     for (size_t pin_number = 0; pin_number < TOTAL_GPIO_COUNT; pin_number++) {
         if ((pins_we_use & (1 << pin_number)) == 0) {
@@ -302,6 +324,7 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     const uint16_t* init, size_t init_len,
     const mcu_pin_obj_t * first_out_pin, uint8_t out_pin_count, uint32_t initial_out_pin_state, uint32_t initial_out_pin_direction,
     const mcu_pin_obj_t * first_in_pin, uint8_t in_pin_count,
+    uint32_t pull_pin_up, uint32_t pull_pin_down,
     const mcu_pin_obj_t * first_set_pin, uint8_t set_pin_count, uint32_t initial_set_pin_state, uint32_t initial_set_pin_direction,
     const mcu_pin_obj_t * first_sideset_pin, uint8_t sideset_pin_count, uint32_t initial_sideset_pin_state, uint32_t initial_sideset_pin_direction,
     bool exclusive_pin_use,
@@ -444,12 +467,19 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     initial_pin_state = (initial_pin_state & ~sideset_mask) | mask_and_rotate(first_sideset_pin, sideset_pin_count, initial_sideset_pin_state);
     initial_pin_direction = (initial_pin_direction & ~sideset_mask) | mask_and_rotate(first_sideset_pin, sideset_pin_count, initial_sideset_pin_direction);
 
+    // Deal with pull up/downs
+    uint32_t pull_up = mask_and_rotate(first_in_pin, in_pin_count, pull_pin_up);
+    uint32_t pull_down = mask_and_rotate(first_in_pin, in_pin_count, pull_pin_down);
+    if (initial_pin_direction & (pull_up | pull_down)) {
+        mp_raise_ValueError(translate("pull masks conflict with direction masks"));
+    }
     bool ok = rp2pio_statemachine_construct(self,
         program, program_len,
         frequency,
         init, init_len,
         first_out_pin, out_pin_count,
         first_in_pin, in_pin_count,
+        pull_up, pull_down,
         first_set_pin, set_pin_count,
         first_sideset_pin, sideset_pin_count,
         initial_pin_state, initial_pin_direction,
@@ -470,6 +500,7 @@ void common_hal_rp2pio_statemachine_restart(rp2pio_statemachine_obj_t *self) {
     uint32_t pins_we_use = _current_sm_pins[pio_index][self->state_machine];
     pio_sm_set_pins_with_mask(self->pio, self->state_machine, self->initial_pin_state, pins_we_use);
     pio_sm_set_pindirs_with_mask(self->pio, self->state_machine, self->initial_pin_direction, pins_we_use);
+    rp2pio_statemachine_set_pull(self->pull_pin_up, self->pull_pin_down, pins_we_use);
     common_hal_rp2pio_statemachine_run(self, self->init, self->init_len);
     pio_sm_set_enabled(self->pio, self->state_machine, true);
 }
@@ -511,6 +542,10 @@ void common_hal_rp2pio_statemachine_set_frequency(rp2pio_statemachine_obj_t* sel
 void rp2pio_statemachine_deinit(rp2pio_statemachine_obj_t *self, bool leave_pins) {
     uint8_t sm = self->state_machine;
     uint8_t pio_index = pio_get_index(self->pio);
+    common_hal_mcu_disable_interrupts();
+    _interrupt_arg[pio_index][sm] = NULL;
+    _interrupt_handler[pio_index][sm] = NULL;
+    common_hal_mcu_enable_interrupts();
     _never_reset[pio_index][sm] = false;
     _reset_statemachine(self->pio, sm, leave_pins);
     self->state_machine = NUM_PIO_STATE_MACHINES;
@@ -728,3 +763,39 @@ void common_hal_rp2pio_statemachine_clear_rxfifo(rp2pio_statemachine_obj_t *self
     }
     self->pio->fdebug = stall_mask;
 }
+
+size_t common_hal_rp2pio_statemachine_get_in_waiting(rp2pio_statemachine_obj_t *self) {
+    uint8_t level = pio_sm_get_rx_fifo_level(self->pio, self->state_machine);
+    return level;
+}
+
+void common_hal_rp2pio_statemachine_set_interrupt_handler(rp2pio_statemachine_obj_t *self, void(*handler)(void*), void *arg, int mask) {
+    uint8_t pio_index = pio_get_index(self->pio);
+    uint8_t sm = self->state_machine;
+
+    common_hal_mcu_disable_interrupts();
+    uint32_t inte = self->pio->inte0;
+    inte &= ~((PIO_IRQ0_INTF_SM0_RXNEMPTY_BITS | PIO_IRQ0_INTF_SM0_TXNFULL_BITS | PIO_IRQ0_INTF_SM0_BITS) << sm);
+    inte |= (mask << sm);
+    self->pio->inte0 = inte;
+    _interrupt_arg[pio_index][sm] = arg;
+    _interrupt_handler[pio_index][sm] = handler;
+    irq_set_exclusive_handler(PIO0_IRQ_0 + 2 * pio_index, rp2pio_statemachine_interrupt_handler);
+    irq_set_enabled(PIO0_IRQ_0 + 2 * pio_index, true);
+    common_hal_mcu_enable_interrupts();
+}
+
+STATIC void rp2pio_statemachine_interrupt_handler(void) {
+    for (size_t pio_index = 0; pio_index < NUM_PIOS; pio_index++) {
+        PIO pio = pio_instances[pio_index];
+        for (size_t sm = 0; sm < NUM_PIO_STATE_MACHINES; sm++) {
+            if (!_interrupt_handler[pio_index][sm]) {
+                continue;
+            }
+            uint32_t intf = (PIO_IRQ0_INTF_SM0_RXNEMPTY_BITS | PIO_IRQ0_INTF_SM0_TXNFULL_BITS | PIO_IRQ0_INTF_SM0_BITS) << sm;
+            if (pio->ints0 & intf) {
+                _interrupt_handler[pio_index][sm](_interrupt_arg[pio_index][sm]);
+            }
+        }
+    }
+}
diff --git a/ports/raspberrypi/common-hal/rp2pio/StateMachine.h b/ports/raspberrypi/common-hal/rp2pio/StateMachine.h
index f084e09860..f40db61ea3 100644
--- a/ports/raspberrypi/common-hal/rp2pio/StateMachine.h
+++ b/ports/raspberrypi/common-hal/rp2pio/StateMachine.h
@@ -29,6 +29,7 @@
 
 #include "py/obj.h"
 
+#include "common-hal/microcontroller/Pin.h"
 #include "src/rp2_common/hardware_pio/include/hardware/pio.h"
 
 typedef struct {
@@ -40,6 +41,8 @@ typedef struct {
     size_t init_len;
     uint32_t initial_pin_state;
     uint32_t initial_pin_direction;
+    uint32_t pull_pin_up;
+    uint32_t pull_pin_down;
     bool in;
     bool out;
     bool wait_for_txstall;
@@ -59,6 +62,7 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     const uint16_t* init, size_t init_len,
     const mcu_pin_obj_t * first_out_pin, uint8_t out_pin_count,
     const mcu_pin_obj_t * first_in_pin, uint8_t in_pin_count,
+    uint32_t pull_pin_up, uint32_t pull_pin_down,
     const mcu_pin_obj_t * first_set_pin, uint8_t set_pin_count,
     const mcu_pin_obj_t * first_sideset_pin, uint8_t sideset_pin_count,
     uint32_t initial_pin_state, uint32_t initial_pin_direction,
diff --git a/ports/raspberrypi/common-hal/rp2pio/__init__.c b/ports/raspberrypi/common-hal/rp2pio/__init__.c
index 21699dfa36..5ad52c751c 100644
--- a/ports/raspberrypi/common-hal/rp2pio/__init__.c
+++ b/ports/raspberrypi/common-hal/rp2pio/__init__.c
@@ -1 +1,43 @@
-// Nothing yet.
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Jeff Epler for Adafruit Industries
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "py/obj.h"
+#include "shared-bindings/microcontroller/Pin.h"
+#include "bindings/rp2pio/__init__.h"
+
+bool common_hal_rp2pio_pins_are_sequential(size_t len, mp_obj_t *items) {
+    if(len == 0) {
+        return true;
+    }
+    mcu_pin_obj_t *last_pin = validate_obj_is_pin(items[0]);
+    for(int i=1; i<len; i++) {
+        mcu_pin_obj_t *pin = validate_obj_is_pin(items[i]);
+        if (pin->number != last_pin->number + 1) {
+            return false;
+        }
+    }
+    return true;
+}
diff --git a/ports/raspberrypi/mpconfigport.mk b/ports/raspberrypi/mpconfigport.mk
index 4c149cb2b8..03de6ce5ee 100644
--- a/ports/raspberrypi/mpconfigport.mk
+++ b/ports/raspberrypi/mpconfigport.mk
@@ -28,13 +28,15 @@ CIRCUITPY_FULL_BUILD = 1
 CIRCUITPY_BITOPS = 1
 CIRCUITPY_PWMIO = 1
 CIRCUITPY_RGBMATRIX = 1
+CIRCUITPY_ROTARYIO = 1
 
 # Things that need to be implemented.
-CIRCUITPY_FREQUENCYIO = 0 # Use PWM interally
+# Use PWM interally
+CIRCUITPY_FREQUENCYIO = 0
 CIRCUITPY_I2CPERIPHERAL = 0
 CIRCUITPY_NVM = 1
-CIRCUITPY_PULSEIO = 0 # Use PIO interally
-CIRCUITPY_ROTARYIO = 0 # Use PIO interally
+# Use PIO interally
+CIRCUITPY_PULSEIO = 0
 CIRCUITPY_WATCHDOG = 1
 
 # Audio via PWM