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 .----->| |<-------------------------.
 | | : |
 | print "Master" .----> Wait for IRQ 1 |
 | | | | |
 | Wait 10 seconds | print "Slave" |
 | | | | |
 | Trigger IRQ 1 on NEXT PIO -----' Wait 5 seconds |
 | : | |
 | Wait for IRQ 0 <--------------------- Trigger IRQ 0 on PREV PIO |
 | | | |
 `------' `--------------------------'

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 Trigger 0xC019 Wait 0x20C1
 Wait 0x20C0 Trigger 0xC008

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from rp2 import asm_pio, StateMachine
import time
@asm_pio()
def Master():
 def Irq(CLR, WAIT, MODE, INDEX):
 return 0xC000 | ((CLR & 1) << 6) | ((WAIT & 1) << 5) | \
 ((MODE & 3) << 3) | (INDEX & 7)
 def Wait(POL, SRC, MODE, INDEX):
 return 0x2000 | ((POL & 1) << 7) | ((SRC & 3) << 5) | \
 ((MODE & 3) << 3) | (INDEX & 7)
 # Get the time delay
 pull(block)
 mov(x, osr)
 label("loop")
 # Indicate activation
 push()
 # Do the delay
 mov(y, x)
 label("delay")
 jmp(y_dec, "delay")
 # Trigger the Slave - Set IRQ 1 in next PIO
 n = Irq(CLR=0, WAIT=0, MODE=0b11, INDEX=1)
 print("Trigger Slave = 0x{:04X}".format(n,))
 word(n)
 # Wait for the Slave complete - Wait until IRQ 0 set, clear IRQ 0
 n = Wait(POL=1, SRC=0b10, MODE=0, INDEX=0)
 print("Wait for Slave = 0x{:04X}".format(n))
 word(n)
 # And repeat forever
 jmp("loop")
@asm_pio()
def Slave():
 def Irq(CLR, WAIT, MODE, INDEX):
 return 0xC000 | ((CLR & 1) << 6) | ((WAIT & 1) << 5) | \
 ((MODE & 3) << 3) | (INDEX & 7)
 def Wait(POL, SRC, MODE, INDEX):
 return 0x2000 | ((POL & 1) << 7) | ((SRC & 3) << 5) | \
 ((MODE & 3) << 3) | (INDEX & 7)
 # Get the time delay
 pull(block)
 mov(x, osr)
 label("loop")
 # Wait to be triggered by Master - Wait until IRQ 1 becomes 1, clear IRQ 1
 n = Wait(POL=1, SRC=0b10, MODE=0, INDEX=1)
 print("Wait for Master = 0x{:04X}".format(n))
 word(n)
 # Indicate activation
 push()
 # Do the delay
 mov(y, x)
 label("delay")
 jmp(y_dec, "delay")
 # Trigger the Master - Set IRQ 0 in previous PIO
 n = Irq(CLR=0, WAIT=0, MODE=0b01, INDEX=0)
 print("Trigger Master = 0x{:04X}".format(n))
 word(n)
 # And repeat forever
 jmp("loop")
# Allocate State Machines
SM_MASTER = 0 # PIO 0
SM_SLAVE = 4 # PIO 1
# Validity checks
print("")
if SM_MASTER < 0 or SM_MASTER > 11:
 print("No such PIO{} for Master on SM{}".format(SM_MASTER >> 2, SM_MASTER))
elif SM_SLAVE < 0 or SM_SLAVE > 11:
 print("No such PIO{} for Slave on SM{}".format(SM_SLAVE >> 2, SM_SLAVE))
elif SM_MASTER >> 2 == SM_SLAVE >> 2:
 print("Master SM{} and Slave SM{} are on the same PIO engine".format(
 SM_MASTER, SM_SLAVE))
else:
 PIO_HZ = 1_000_000
 ONE_SECOND = 1_000_000
 master = StateMachine(SM_MASTER, Master, freq=PIO_HZ)
 master.active(1)
 slave = StateMachine(SM_SLAVE, Slave, freq=PIO_HZ)
 slave.active(1)
 master.put(10 * ONE_SECOND)
 slave.put( 5 * ONE_SECOND)
 # Report when State Machines activate
 NOW = time.time
 was = NOW()
 while True:
 while master.rx_fifo() > 0:
 now = NOW()
 master.get()
 print("{} +{:<3} Master".format(now, now - was))
 was = now
 while slave.rx_fifo() > 0:
 now = NOW()
 slave.get()
 print("{} +{:<3} Slave".format(now, now - was))
 if now == was:
 print("Needs a hard reset")
 was = now

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pi@Pi4B:~/pico/micropython/ports/picopython/modules-examples $ mptool run RP235X_CrossPioIrqTriggers.py
Running './RP235X_CrossPioIrqTriggers.py' on the device
Trigger Slave = 0xC019
Wait for Slave = 0x20C0
Trigger Slave = 0xC019
Wait for Slave = 0x20C0
Wait for Master = 0x20C1
Trigger Master = 0xC008
Wait for Master = 0x20C1
Trigger Master = 0xC008
1609460230 +0 Master
1609460240 +10 Slave
1609460245 +5 Master
1609460255 +10 Slave
1609460260 +5 Master
1609460270 +10 Slave
^C