diff --git a/arch/arm/src/rp2040/rp2040_pio.c b/arch/arm/src/rp2040/rp2040_pio.c
index ee4c6e45cdad7..4254275438a84 100644
--- a/arch/arm/src/rp2040/rp2040_pio.c
+++ b/arch/arm/src/rp2040/rp2040_pio.c
@@ -133,7 +133,7 @@ static void hw_claim_clear(uint8_t *bits, uint32_t bit_index)
 static int _pio_find_offset_for_program(uint32_t pio,
                                         const rp2040_pio_program_t *program)
 {
-  ASSERT(program->length < PIO_INSTRUCTION_COUNT);
+  ASSERT(program->length <= PIO_INSTRUCTION_COUNT);
   uint32_t used_mask = _used_instruction_space[rp2040_pio_get_index(pio)];
   uint32_t program_mask = (1u << program->length) - 1;
 
diff --git a/arch/arm/src/rp23xx/rp23xx_pio.c b/arch/arm/src/rp23xx/rp23xx_pio.c
index ef04170c13d1a..eaf56ad26da30 100644
--- a/arch/arm/src/rp23xx/rp23xx_pio.c
+++ b/arch/arm/src/rp23xx/rp23xx_pio.c
@@ -120,7 +120,7 @@ static void hw_claim_clear(uint8_t *bits, uint32_t bit_index)
 static int _pio_find_offset_for_program(uint32_t pio,
                                         const rp23xx_pio_program_t *program)
 {
-  ASSERT(program->length < PIO_INSTRUCTION_COUNT);
+  ASSERT(program->length <= PIO_INSTRUCTION_COUNT);
   uint32_t used_mask = _used_instruction_space[rp23xx_pio_get_index(pio)];
   uint32_t program_mask = (1u << program->length) - 1;
 
diff --git a/arch/risc-v/src/rp23xx-rv/rp23xx_pio.c b/arch/risc-v/src/rp23xx-rv/rp23xx_pio.c
index 01cc8f6536bf2..fc1cf4ea74ca8 100644
--- a/arch/risc-v/src/rp23xx-rv/rp23xx_pio.c
+++ b/arch/risc-v/src/rp23xx-rv/rp23xx_pio.c
@@ -120,7 +120,7 @@ static void hw_claim_clear(uint8_t *bits, uint32_t bit_index)
 static int _pio_find_offset_for_program(uint32_t pio,
                                         const rp23xx_pio_program_t *program)
 {
-  ASSERT(program->length < PIO_INSTRUCTION_COUNT);
+  ASSERT(program->length <= PIO_INSTRUCTION_COUNT);
   uint32_t used_mask = _used_instruction_space[rp23xx_pio_get_index(pio)];
   uint32_t program_mask = (1u << program->length) - 1;