diff --git a/ports/raspberrypi/bindings/rp2pio/StateMachine.c b/ports/raspberrypi/bindings/rp2pio/StateMachine.c
index 99f4ea179238e..2615fac7c9dfe 100644
--- a/ports/raspberrypi/bindings/rp2pio/StateMachine.c
+++ b/ports/raspberrypi/bindings/rp2pio/StateMachine.c
@@ -64,6 +64,7 @@
 //|         initial_set_pin_direction: int = 0x1F,
 //|         first_sideset_pin: Optional[microcontroller.Pin] = None,
 //|         sideset_pin_count: int = 1,
+//|         sideset_pindirs: bool = False,
 //|         initial_sideset_pin_state: int = 0,
 //|         initial_sideset_pin_direction: int = 0x1F,
 //|         sideset_enable: bool = False,
@@ -133,6 +134,7 @@
 //|         :param int in_pin_count: the count of consecutive pins to use with IN starting at first_in_pin
 //|         :param int set_pin_count: the count of consecutive pins to use with SET starting at first_set_pin
 //|         :param int sideset_pin_count: the count of consecutive pins to use with a side set starting at first_sideset_pin. Does not include sideset enable
+//|         :param bool sideset_pindirs: `True` to indicate that the side set values should be applied to the PINDIRs and not the PINs
 //|         :param int pio_version: The version of the PIO peripheral required by the program. The constructor will raise an error if the actual hardware is not compatible with this program version.
 //|         :param bool auto_push: When True, automatically save data from input shift register
 //|              (ISR) into the rx FIFO when an IN instruction shifts more than push_threshold bits
@@ -173,7 +175,8 @@ static mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
            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_first_sideset_pin, ARG_sideset_pin_count, ARG_sideset_pindirs,
+           ARG_initial_sideset_pin_state, ARG_initial_sideset_pin_direction,
            ARG_sideset_enable,
            ARG_jmp_pin, ARG_jmp_pin_pull,
            ARG_exclusive_pin_use,
@@ -211,6 +214,7 @@ static mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
 
         { MP_QSTR_first_sideset_pin, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
         { MP_QSTR_sideset_pin_count, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} },
+        { MP_QSTR_sideset_pindirs, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} },
         { MP_QSTR_initial_sideset_pin_state, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
         { MP_QSTR_initial_sideset_pin_direction, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0x1f} },
 
@@ -329,7 +333,8 @@ static mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
         first_out_pin, out_pin_count, args[ARG_initial_out_pin_state].u_int, args[ARG_initial_out_pin_direction].u_int,
         first_in_pin, in_pin_count, args[ARG_pull_in_pin_up].u_int, args[ARG_pull_in_pin_down].u_int,
         first_set_pin, set_pin_count, args[ARG_initial_set_pin_state].u_int, args[ARG_initial_set_pin_direction].u_int,
-        first_sideset_pin, sideset_pin_count, args[ARG_initial_sideset_pin_state].u_int, args[ARG_initial_sideset_pin_direction].u_int,
+        first_sideset_pin, sideset_pin_count, args[ARG_sideset_pindirs].u_bool,
+        args[ARG_initial_sideset_pin_state].u_int, args[ARG_initial_sideset_pin_direction].u_int,
         args[ARG_sideset_enable].u_bool,
         jmp_pin, jmp_pin_pull,
         0,
diff --git a/ports/raspberrypi/bindings/rp2pio/StateMachine.h b/ports/raspberrypi/bindings/rp2pio/StateMachine.h
index 3d265b19a5245..90fb24cbf8044 100644
--- a/ports/raspberrypi/bindings/rp2pio/StateMachine.h
+++ b/ports/raspberrypi/bindings/rp2pio/StateMachine.h
@@ -24,7 +24,8 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     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,
+    const mcu_pin_obj_t *first_sideset_pin, uint8_t sideset_pin_count, bool sideset_pindirs,
+    uint32_t initial_sideset_pin_state, uint32_t initial_sideset_pin_direction,
     bool sideset_enable,
     const mcu_pin_obj_t *jmp_pin, digitalio_pull_t jmp_pin_pull,
     uint32_t wait_gpio_mask,
diff --git a/ports/raspberrypi/common-hal/audiobusio/I2SOut.c b/ports/raspberrypi/common-hal/audiobusio/I2SOut.c
index 60200e5c1214e..90e92a4266589 100644
--- a/ports/raspberrypi/common-hal/audiobusio/I2SOut.c
+++ b/ports/raspberrypi/common-hal/audiobusio/I2SOut.c
@@ -188,7 +188,7 @@ void common_hal_audiobusio_i2sout_construct(audiobusio_i2sout_obj_t *self,
         NULL, 0, // in pins
         0, 0, // in pulls
         NULL, 0, 0, 0x1f, // set pins
-        sideset_pin, 2, 0, 0x1f, // sideset pins
+        sideset_pin, 2, false, 0, 0x1f, // sideset pins
         false, // No sideset enable
         NULL, PULL_NONE, // jump pin
         0, // wait gpio pins
diff --git a/ports/raspberrypi/common-hal/audiobusio/PDMIn.c b/ports/raspberrypi/common-hal/audiobusio/PDMIn.c
index b6e9d767d4bb1..6045aae99869d 100644
--- a/ports/raspberrypi/common-hal/audiobusio/PDMIn.c
+++ b/ports/raspberrypi/common-hal/audiobusio/PDMIn.c
@@ -50,7 +50,7 @@ void common_hal_audiobusio_pdmin_construct(audiobusio_pdmin_obj_t *self,
         data_pin, 1, // in pins
         0, 0, // in pulls
         NULL, 0, 0, 0x1f, // set pins
-        clock_pin, 1, 0, 0x1f, // sideset pins
+        clock_pin, 1, false, 0, 0x1f, // sideset pins
         false, // No sideset enable
         NULL, PULL_NONE, // jump pin
         0, // wait gpio pins
diff --git a/ports/raspberrypi/common-hal/floppyio/__init__.c b/ports/raspberrypi/common-hal/floppyio/__init__.c
index a8a31c63d21d0..06da4781e210d 100644
--- a/ports/raspberrypi/common-hal/floppyio/__init__.c
+++ b/ports/raspberrypi/common-hal/floppyio/__init__.c
@@ -88,7 +88,7 @@ int common_hal_floppyio_flux_readinto(void *buf, size_t len, digitalio_digitalin
         index->pin, 1, // in
         1, 0, // in pull up/down
         NULL, 0, // set
-        NULL, 0, // sideset
+        NULL, 0, false, // sideset
         0, 0, // initial pin state
         data->pin, // jump pin
         pins_we_use, false, true,
diff --git a/ports/raspberrypi/common-hal/imagecapture/ParallelImageCapture.c b/ports/raspberrypi/common-hal/imagecapture/ParallelImageCapture.c
index ac378d5877042..835171bef3e6b 100644
--- a/ports/raspberrypi/common-hal/imagecapture/ParallelImageCapture.c
+++ b/ports/raspberrypi/common-hal/imagecapture/ParallelImageCapture.c
@@ -90,7 +90,7 @@ void common_hal_imagecapture_parallelimagecapture_construct(imagecapture_paralle
         #if DEBUG_STATE_MACHINE
         &pin_GPIO26, 3, 7, 7, // sideset pins
         #else
-        NULL, 0, 0, 0, // sideset pins
+        NULL, 0, false, 0, 0, // sideset pins
         #endif
         false, // No sideset enable
         NULL, PULL_NONE, // jump pin
diff --git a/ports/raspberrypi/common-hal/neopixel_write/__init__.c b/ports/raspberrypi/common-hal/neopixel_write/__init__.c
index c30022204683e..add8d1f8ceed5 100644
--- a/ports/raspberrypi/common-hal/neopixel_write/__init__.c
+++ b/ports/raspberrypi/common-hal/neopixel_write/__init__.c
@@ -49,7 +49,7 @@ void common_hal_neopixel_write(const digitalio_digitalinout_obj_t *digitalinout,
         NULL, 1, // in
         0, 0, // in pulls
         NULL, 1, // set
-        digitalinout->pin, 1, // sideset
+        digitalinout->pin, 1, false, // sideset
         0, pins_we_use, // initial pin state
         NULL, // jump pin
         pins_we_use, true, false,
diff --git a/ports/raspberrypi/common-hal/paralleldisplaybus/ParallelBus.c b/ports/raspberrypi/common-hal/paralleldisplaybus/ParallelBus.c
index bb0d3c1fd426c..b4b61ef88c883 100644
--- a/ports/raspberrypi/common-hal/paralleldisplaybus/ParallelBus.c
+++ b/ports/raspberrypi/common-hal/paralleldisplaybus/ParallelBus.c
@@ -82,7 +82,7 @@ void common_hal_paralleldisplaybus_parallelbus_construct(paralleldisplaybus_para
         data0, 8, 0, 255, // first out pin, # out pins
         NULL, 0, 0, 0, // first in pin, # in pins
         NULL, 0, 0, 0, // first set pin
-        write, 1, 0, 1, // first sideset pin
+        write, 1, false, 0, 1, // first sideset pin
         false, // No sideset enable
         NULL, PULL_NONE, // jump pin
         0, // wait gpio pins
diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.c b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
index a3b8a06f4ab29..18622dcb4ff2b 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.c
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
@@ -44,7 +44,7 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t *self,
         NULL, 0, 0, 0, // first out pin, # out pins, initial_out_pin_state
         pin, 1, 0, 0, // first in pin, # in pins
         NULL, 0, 0, 0, // first set pin
-        NULL, 0, 0, 0, // first sideset pin
+        NULL, 0, false, 0, 0, // first sideset pin
         false, // No sideset enable
         NULL, PULL_NONE, // jump pin, jmp_pull
         0, // wait gpio pins
diff --git a/ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.c b/ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.c
index b5af0474be759..ef885512dfe1b 100644
--- a/ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.c
+++ b/ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.c
@@ -66,7 +66,7 @@ void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencode
         pins[0], 2, // in pins
         3, 0, // in pulls
         NULL, 0, 0, 0x1f, // set pins
-        NULL, 0, 0, 0x1f, // sideset pins
+        NULL, 0, false, 0, 0x1f, // sideset pins
         false, // No sideset enable
         NULL, PULL_NONE, // jump pin
         0, // wait gpio pins
diff --git a/ports/raspberrypi/common-hal/rp2pio/StateMachine.c b/ports/raspberrypi/common-hal/rp2pio/StateMachine.c
index 87f573d98a693..c41e43855e4ef 100644
--- a/ports/raspberrypi/common-hal/rp2pio/StateMachine.c
+++ b/ports/raspberrypi/common-hal/rp2pio/StateMachine.c
@@ -252,7 +252,7 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     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,
+    const mcu_pin_obj_t *first_sideset_pin, uint8_t sideset_pin_count, bool sideset_pindirs,
     uint32_t initial_pin_state, uint32_t initial_pin_direction,
     const mcu_pin_obj_t *jmp_pin,
     uint32_t pins_we_use, bool tx_fifo, bool rx_fifo,
@@ -390,7 +390,7 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
         if (sideset_enable) {
             total_sideset_bits += 1;
         }
-        sm_config_set_sideset(&c, total_sideset_bits, sideset_enable, false /* pin direction */);
+        sm_config_set_sideset(&c, total_sideset_bits, sideset_enable, sideset_pindirs);
         sm_config_set_sideset_pins(&c, first_sideset_pin->number);
     }
     if (jmp_pin != NULL) {
@@ -593,7 +593,8 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     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,
+    const mcu_pin_obj_t *first_sideset_pin, uint8_t sideset_pin_count, bool sideset_pindirs,
+    uint32_t initial_sideset_pin_state, uint32_t initial_sideset_pin_direction,
     bool sideset_enable,
     const mcu_pin_obj_t *jmp_pin, digitalio_pull_t jmp_pull,
     uint32_t wait_gpio_mask,
@@ -687,7 +688,7 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
         first_in_pin, in_pin_count,
         pull_up, pull_down,
         first_set_pin, set_pin_count,
-        first_sideset_pin, sideset_pin_count,
+        first_sideset_pin, sideset_pin_count, sideset_pindirs,
         initial_pin_state, initial_pin_direction,
         jmp_pin,
         pins_we_use, state.outputs.tx_fifo, state.outputs.rx_fifo,
diff --git a/ports/raspberrypi/common-hal/rp2pio/StateMachine.h b/ports/raspberrypi/common-hal/rp2pio/StateMachine.h
index 7fa2f3d6c7522..8a597544b4014 100644
--- a/ports/raspberrypi/common-hal/rp2pio/StateMachine.h
+++ b/ports/raspberrypi/common-hal/rp2pio/StateMachine.h
@@ -81,7 +81,7 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     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,
+    const mcu_pin_obj_t *first_sideset_pin, uint8_t sideset_pin_count, bool sideset_pindirs,
     uint32_t initial_pin_state, uint32_t initial_pin_direction,
     const mcu_pin_obj_t *jmp_pin,
     uint32_t pins_we_use, bool tx_fifo, bool rx_fifo,