diff --git a/.github/workflows/pioasm_outputs.yml b/.github/workflows/pioasm_outputs.yml
new file mode 100644
index 000000000..a75036e45
--- /dev/null
+++ b/.github/workflows/pioasm_outputs.yml
@@ -0,0 +1,30 @@
+name: Check pioasm output files
+on: [push, pull_request]
+
+jobs:
+  check-pioasm-outputs:
+    # Prevent running twice for PRs from same repo
+    if: github.repository_owner == 'raspberrypi' && (github.event_name != 'pull_request' || github.event.pull_request.head.repo.full_name != github.event.pull_request.base.repo.full_name)
+    runs-on: [self-hosted, Linux, X64]
+
+    steps:
+    - name: Checkout
+      uses: actions/checkout@v4
+
+    - name: Checkout pico-sdk/develop
+      uses: actions/checkout@v4
+      with:
+        repository: raspberrypi/pico-sdk
+        ref: develop
+        path: pico-sdk
+
+    - name: Rebuild pioasm outputs
+      run: PICO_SDK_PATH=${{github.workspace}}/pico-sdk ./update_pioasm_outputs.sh
+
+    - name: Check pioasm outputs for changes
+      run: |
+        if git status --porcelain | grep -q '^ M'; then
+          echo "::error title=outdated-files::Autogenerated pioasm output files are out of date - update by running update_pioasm_outputs.sh"
+          exit 1
+        fi
+
diff --git a/pio/squarewave/generated/squarewave.pio.h b/pio/squarewave/generated/squarewave.pio.h
index 7bcdc191e..0806ac240 100644
--- a/pio/squarewave/generated/squarewave.pio.h
+++ b/pio/squarewave/generated/squarewave.pio.h
@@ -1,6 +1,6 @@
-// -------------------------------------------------- //
-// This file is autogenerated by pioasm; do not edit! //
-// -------------------------------------------------- //
+// ------------------------------------------------------------------------ //
+// This file is autogenerated by pioasm version 2.2.1-develop; do not edit! //
+// ------------------------------------------------------------------------ //
 
 #pragma once
 
diff --git a/pio/squarewave/generated/squarewave_wrap.pio.h b/pio/squarewave/generated/squarewave_wrap.pio.h
index 17ceee3cb..cb15e1a45 100644
--- a/pio/squarewave/generated/squarewave_wrap.pio.h
+++ b/pio/squarewave/generated/squarewave_wrap.pio.h
@@ -1,6 +1,6 @@
-// -------------------------------------------------- //
-// This file is autogenerated by pioasm; do not edit! //
-// -------------------------------------------------- //
+// ------------------------------------------------------------------------ //
+// This file is autogenerated by pioasm version 2.2.1-develop; do not edit! //
+// ------------------------------------------------------------------------ //
 
 #pragma once
 
diff --git a/pio/ws2812/generated/ws2812.pio.h b/pio/ws2812/generated/ws2812.pio.h
index 720153700..a71ffe929 100644
--- a/pio/ws2812/generated/ws2812.pio.h
+++ b/pio/ws2812/generated/ws2812.pio.h
@@ -1,6 +1,6 @@
-// -------------------------------------------------- //
-// This file is autogenerated by pioasm; do not edit! //
-// -------------------------------------------------- //
+// ------------------------------------------------------------------------ //
+// This file is autogenerated by pioasm version 2.2.1-develop; do not edit! //
+// ------------------------------------------------------------------------ //
 
 #pragma once
 
diff --git a/pio/ws2812/generated/ws2812.py b/pio/ws2812/generated/ws2812.py
index a10c77ed7..7fb5d598b 100644
--- a/pio/ws2812/generated/ws2812.py
+++ b/pio/ws2812/generated/ws2812.py
@@ -1,6 +1,6 @@
-# -------------------------------------------------- #
-# This file is autogenerated by pioasm; do not edit! #
-# -------------------------------------------------- #
+# ------------------------------------------------------------------------ #
+# This file is autogenerated by pioasm version 2.2.1-develop; do not edit! #
+# ------------------------------------------------------------------------ #
 
 import rp2
 from machine import Pin
diff --git a/update_pioasm_outputs.sh b/update_pioasm_outputs.sh
new file mode 100755
index 000000000..1ec53bf27
--- /dev/null
+++ b/update_pioasm_outputs.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+# Helper-script to update the pioasm-generated files in pico-examples repo
+PIOASM_COMMENT_STRING="This file is autogenerated by pioasm"
+if [ -z $PICO_SDK_PATH ]; then
+  echo "PICO_SDK_PATH envvar not set"
+  exit 1
+fi
+if [ ! -d $PICO_SDK_PATH ]; then
+  echo "PICO_SDK_PATH envvar ($PICO_SDK_PATH) is invalid"
+  exit 1
+fi
+# convert to absolute path
+PICO_SDK_PATH=$(realpath $PICO_SDK_PATH)
+BUILD_DIR=$(mktemp -d -p .)
+cleanup() {
+  if [[ -d "$BUILD_DIR" ]]; then
+    rm -rf "$BUILD_DIR"
+  fi
+}
+trap cleanup EXIT
+SCRIPTNAME=$(basename "$0")
+PIOASM_OUTPUT_DIRS=()
+while read -r DIRNAME; do
+  if [ "$DIRNAME" != "$SCRIPTNAME" ]; then
+    PIOASM_OUTPUT_DIRS+=("$DIRNAME")
+  fi
+done <<< "$(git grep -l "$PIOASM_COMMENT_STRING" | cut -d/ -f1-2 | sort | uniq)"
+while read -r FILENAME; do
+  if [ "$FILENAME" != "$SCRIPTNAME" ]; then
+    rm "$FILENAME"
+  fi
+done <<< "$(git grep -l "$PIOASM_COMMENT_STRING")"
+cmake -S . -B "$BUILD_DIR" -DPICO_SDK_PATH=$PICO_SDK_PATH -DPICO_NO_PICOTOOL=1
+for DIRNAME in "${PIOASM_OUTPUT_DIRS[@]}"; do
+  make -j4 -C "$BUILD_DIR/$DIRNAME"
+done
+cleanup