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A well-known example of an I/O co-processor is the Raspberry Pi’s PIO. It consists of a set of four “processors”, each with nine instructions, with an instruction memory of 32 locations, highly tuned to provide great flexibility with easy cycle-accurate manipulation of GPIOs. For example, a SPI implementation with clock, in, and out consists of a configuration modifier plus just two instructions that are executed in an “effective loop” due to configurable side-effects available in the PIO configuration, such as automatic code wrap-around and FIFO management:
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