diff --git a/Grbl_Esp32/Grbl_Esp32.ino b/Grbl_Esp32/Grbl_Esp32.ino
index 3a4d2ff6..b3133b51 100644
--- a/Grbl_Esp32/Grbl_Esp32.ino
+++ b/Grbl_Esp32/Grbl_Esp32.ino
@@ -22,6 +22,7 @@
 #    include "src/Grbl.h"
 
 void setup() {
+    Serial.begin(115200);
     grbl_init();
 }
 
diff --git a/Grbl_Esp32/src/Motors/Motors.cpp b/Grbl_Esp32/src/Motors/Motors.cpp
index 5bb8edf9..0e9de7bd 100644
--- a/Grbl_Esp32/src/Motors/Motors.cpp
+++ b/Grbl_Esp32/src/Motors/Motors.cpp
@@ -393,14 +393,14 @@ void           init_motors() {
         for (int gang_index = 0; gang_index < 2; gang_index++) {
             Pin pin = ms3_pins[axis][gang_index];
             if (pin != Pin::UNDEFINED) {
-                pin.setAttr(Pin::Attr::Output | Pin::Attr::InitialHigh);
+                pin.setAttr(Pin::Attr::Output | Pin::Attr::InitialOn);
             }
         }
     }
 
     if (StepperResetPin->get() != Pin::UNDEFINED) {
         // !RESET pin on steppers  (MISO On Schematic)
-        StepperResetPin->get().setAttr(Pin::Attr::Output | Pin::Attr::InitialHigh);
+        StepperResetPin->get().setAttr(Pin::Attr::Output | Pin::Attr::InitialOn);
     }
 
 #endif
diff --git a/Grbl_Esp32/src/Motors/TrinamicDriver.cpp b/Grbl_Esp32/src/Motors/TrinamicDriver.cpp
index b9e17f81..b7fd3bce 100644
--- a/Grbl_Esp32/src/Motors/TrinamicDriver.cpp
+++ b/Grbl_Esp32/src/Motors/TrinamicDriver.cpp
@@ -73,7 +73,7 @@ namespace Motors {
         _has_errors = false;
         init_step_dir_pins();  // from StandardStepper
 
-        _cs_pin.setAttr(Pin::Attr::Output | Pin::Attr::InitialHigh);
+        _cs_pin.setAttr(Pin::Attr::Output | Pin::Attr::InitialOn);
 
         // use slower speed if I2S
         if (_cs_pin.capabilities().has(Pin::Capabilities::I2S)) {
diff --git a/Grbl_Esp32/src/Pin.cpp b/Grbl_Esp32/src/Pin.cpp
index 2e271b30..771f9c9d 100644
--- a/Grbl_Esp32/src/Pin.cpp
+++ b/Grbl_Esp32/src/Pin.cpp
@@ -1,22 +1,24 @@
 #include "Pin.h"
-#include "Grbl.h"
 
 // Pins:
 #include "Pins/PinOptionsParser.h"
 #include "Pins/VoidPinDetail.h"
 #include "Pins/GPIOPinDetail.h"
 #include "Pins/I2SPinDetail.h"
-#ifdef PIN_DEBUG
+
+#if defined PIN_DEBUG && defined ESP32
 #    include "Pins/DebugPinDetail.h"
+#    include "Grbl.h"  // grbl_sendf
 #endif
 
-bool Pin::parse(String str, Pins::PinDetail*& pinImplementation, int& pinNumber) {
+bool Pin::parse(String str, Pins::PinDetail*& pinImplementation) {
     // Initialize pinImplementation first! Callers might want to delete it, and we don't want a random pointer.
     pinImplementation = nullptr;
 
     if (str == "") {
+        // Re-use undefined pins happens in 'create':
         pinImplementation = new Pins::VoidPinDetail();
-        return pinImplementation;
+        return true;
     }
 
     // Parse the definition: [GPIO].[pinNumber]:[attributes]
@@ -31,13 +33,13 @@ bool Pin::parse(String str, Pins::PinDetail*& pinImplementation, int& pinNumber)
         ++idx;
     }
 
+    int pinNumber = 0;
     if (prefix != "") {
         if (idx == str.end()) {
             // Incorrect pin definition.
             return false;
         }
 
-        pinNumber = 0;
         for (; idx != str.end() && *idx >= '0' && *idx <= '9'; ++idx) {
             pinNumber = pinNumber * 10 + int(*idx - '0');
         }
@@ -67,46 +69,86 @@ bool Pin::parse(String str, Pins::PinDetail*& pinImplementation, int& pinNumber)
     Pins::PinOptionsParser parser(options.begin(), options.end());
 
     // Build this pin:
-
-    try {
-        if (prefix == "gpio") {
-            pinImplementation = new Pins::GPIOPinDetail(uint8_t(pinNumber), parser);
-        } else if (prefix == "i2s") {
+    if (prefix == "gpio") {
+        pinImplementation = new Pins::GPIOPinDetail(uint8_t(pinNumber), parser);
+    } else if (prefix == "i2s") {
 #ifdef ESP_32
-            pinImplementation = new Pins::I2SPinDetail(uint8_t(pinNumber), parser);
+        pinImplementation = new Pins::I2SPinDetail(uint8_t(pinNumber), parser);
+#else
+        return false;  // not supported
 #endif
-        } else {
-#ifdef PIN_DEBUG
-            pinImplementation = new Pins::DebugPinDetail(pinImplementation);
-#endif
-        }
-    } catch (const std::exception& e) {
-        grbl_sendf(CLIENT_SERIAL, "%s\r\n", e.what());
-        pinImplementation = new Pins::VoidPinDetail();
-        return false;
+    } else if (prefix == "void") {
+        // Note: having multiple void pins has its uses for debugging. Note that using
+        // when doing 'x == Pin::UNDEFINED' will evaluate to 'false' if the pin number
+        // is not 0.
+        pinImplementation = new Pins::VoidPinDetail(uint8_t(pinNumber));
     }
-    return pinImplementation;
+
+#if defined PIN_DEBUG && defined ESP32
+    pinImplementation = new Pins::DebugPinDetail(pinImplementation);
+#endif
+    return true;
 }
 
 Pin Pin::create(const String& str) {
-    Pins::PinDetail* pinImplementation;
-    int              pinNumber;
+    Pins::PinDetail* pinImplementation = nullptr;
+    try {
+#ifdef PIN_DEBUG
+#    ifdef ESP32
+        grbl_sendf(CLIENT_ALL, "Setting up pin: [%s]\r\n", str.c_str());
+#    endif
+#endif
+        if (!parse(str, pinImplementation)) {
+#ifdef ESP32
+            grbl_sendf(CLIENT_ALL, "Setting up pin: '%s' failed.", str.c_str());
+#endif
+            return Pin::UNDEFINED;
+        } else {
+            // Check if we already have this pin:
+            auto existingPin = Pins::PinLookup::_instance.FindExisting(pinImplementation);
 
-    Assert(parse(str, pinImplementation, pinNumber), "Pin definition is invalid.");
+            // If we already had it, and we didn't find itself, remove the new instance:
+            if (existingPin >= 0) {
+#ifdef ESP32
+                grbl_sendf(CLIENT_ALL, "Reusing previous pin initialization.");
+#endif
+                if (pinImplementation) {
+                    delete pinImplementation;
+                }
 
-    // Register:
-    Pins::PinLookup::_instance.SetPin(uint8_t(pinNumber), pinImplementation);
+                return Pin(uint8_t(existingPin));
+            } else {
+                // This is a new pin. So, register, and return the pin object that refers to it.
+                auto pinNumber = pinImplementation->number();
+                auto realIndex = Pins::PinLookup::_instance.SetPin(uint8_t(pinNumber), pinImplementation);
+                return Pin(realIndex);
+            }
+        }
 
-    return Pin(uint8_t(pinNumber));
+    } catch (AssertionFailed& ex) {  // We shouldn't get here under normal circumstances.
+#ifdef PIN_DEBUG
+#    ifdef ESP32
+        grbl_sendf(CLIENT_ALL, "Failed. Details: %s\r\n", ex.stackTrace.c_str());
+#    endif
+#endif
+        // RAII safety guard.
+        if (pinImplementation) {
+            delete pinImplementation;
+        }
+
+        return Pin::UNDEFINED;
+    }
 }
 
 bool Pin::validate(const String& str) {
     Pins::PinDetail* pinImplementation;
     int              pinNumber;
 
-    auto valid = parse(str, pinImplementation, pinNumber);
+    auto valid = parse(str, pinImplementation);
+    if (pinImplementation) {
+        delete pinImplementation;
+    }
 
-    delete pinImplementation;
     return valid;
 }
 
diff --git a/Grbl_Esp32/src/Pin.h b/Grbl_Esp32/src/Pin.h
index 7b4aaf30..8cbde78b 100644
--- a/Grbl_Esp32/src/Pin.h
+++ b/Grbl_Esp32/src/Pin.h
@@ -9,7 +9,7 @@
 #include <cstdint>
 #include <cstring>
 
-// #define PIN_DEBUG  // Pin debugging. WILL spam you with a lot of data!
+#define PIN_DEBUG  // Pin debugging. WILL spam you with a lot of data!
 
 // Forward declarations:
 class String;
@@ -37,7 +37,7 @@ class Pin {
 
     inline Pin(uint8_t index) : _index(index) {}
 
-    static bool parse(String str, Pins::PinDetail*& detail, int& pinNumber);
+    static bool parse(String str, Pins::PinDetail*& detail);
 
 public:
     using Capabilities = Pins::PinCapabilities;
@@ -61,8 +61,8 @@ public:
     inline Pin& operator=(Pin&& o) = default;
 
     // Some convenience operators:
-    inline bool operator==(Pin o) const { return _index == _index; }
-    inline bool operator!=(Pin o) const { return _index != _index; }
+    inline bool operator==(const Pin& o) const { return _index == o._index; }
+    inline bool operator!=(const Pin& o) const { return _index != o._index; }
 
     inline uint8_t getNative(Capabilities expectedBehavior) const {
         auto detail = Pins::PinLookup::_instance.GetPin(_index);
diff --git a/Grbl_Esp32/src/Pins/DebugPinDetail.cpp b/Grbl_Esp32/src/Pins/DebugPinDetail.cpp
index f43cd66f..a8b1f16d 100644
--- a/Grbl_Esp32/src/Pins/DebugPinDetail.cpp
+++ b/Grbl_Esp32/src/Pins/DebugPinDetail.cpp
@@ -36,7 +36,7 @@ namespace Pins {
         if (value.has(PinAttributes::Exclusive)) {
             buf[n++] = 'X';
         }
-        if (value.has(PinAttributes::InitialHigh)) {
+        if (value.has(PinAttributes::InitialOn)) {
             buf[n++] = '+';
         }
         buf[n++] = 0;
diff --git a/Grbl_Esp32/src/Pins/DebugPinDetail.h b/Grbl_Esp32/src/Pins/DebugPinDetail.h
index d352fa16..f503cd12 100644
--- a/Grbl_Esp32/src/Pins/DebugPinDetail.h
+++ b/Grbl_Esp32/src/Pins/DebugPinDetail.h
@@ -22,7 +22,9 @@ namespace Pins {
         bool shouldEvent();
 
     public:
-        DebugPinDetail(PinDetail* implementation) : _implementation(implementation), _lastEvent(0), _eventCount(0) {}
+        DebugPinDetail(PinDetail* implementation) :
+            PinDetail(implementation->number()), _implementation(implementation), _lastEvent(0), _eventCount(0), _isrHandler({ 0 }) {
+        }
 
         PinCapabilities capabilities() const override { return _implementation->capabilities(); }
 
diff --git a/Grbl_Esp32/src/Pins/ErrorPinDetail.cpp b/Grbl_Esp32/src/Pins/ErrorPinDetail.cpp
index 62c6e36b..6c4a6739 100644
--- a/Grbl_Esp32/src/Pins/ErrorPinDetail.cpp
+++ b/Grbl_Esp32/src/Pins/ErrorPinDetail.cpp
@@ -2,9 +2,9 @@
 #include "../Assert.h"
 
 namespace Pins {
-    ErrorPinDetail::ErrorPinDetail(const PinOptionsParser& options) {}
+    ErrorPinDetail::ErrorPinDetail(const PinOptionsParser& options) : PinDetail(0) {}
 
-    PinCapabilities ErrorPinDetail::capabilities() const { return PinCapabilities::None; }
+    PinCapabilities ErrorPinDetail::capabilities() const { return PinCapabilities::Error; }
 
     void ErrorPinDetail::write(int high) { Assert(false, "Cannot write to an error pin."); }
     int  ErrorPinDetail::read() { Assert(false, "Cannot read from an error pin."); }
diff --git a/Grbl_Esp32/src/Pins/GPIOPinDetail.cpp b/Grbl_Esp32/src/Pins/GPIOPinDetail.cpp
index 5a5c579b..7c0d6546 100644
--- a/Grbl_Esp32/src/Pins/GPIOPinDetail.cpp
+++ b/Grbl_Esp32/src/Pins/GPIOPinDetail.cpp
@@ -77,10 +77,15 @@ namespace Pins {
     }
 
     GPIOPinDetail::GPIOPinDetail(uint8_t index, PinOptionsParser options) :
-        _index(index), _capabilities(GetDefaultCapabilities(index)), _attributes(Pins::PinAttributes::Undefined), _readWriteMask(0) {
-        if (_capabilities == PinCapabilities::None) {
-            throw std::runtime_error("Bad GPIO number");
-        }
+        PinDetail(index), _capabilities(GetDefaultCapabilities(index)), _attributes(Pins::PinAttributes::Undefined), _readWriteMask(0) {
+        // NOTE:
+        //
+        // RAII is very important here! If we throw an exception in the constructor, the resources
+        // that were allocated by the constructor up to that point _MUST_ be freed! Otherwise, you
+        // WILL get into trouble.
+
+        Assert(_capabilities != PinCapabilities::None, "Bad GPIO number");
+
         // User defined pin capabilities
         for (auto opt : options) {
             if (opt.is("pu")) {
@@ -88,20 +93,16 @@ namespace Pins {
             } else if (opt.is("pd")) {
                 _attributes = _attributes | PinAttributes::PullDown;
             } else if (opt.is("low")) {
-                _attributes = _attributes  | PinAttributes::ActiveLow;
+                _attributes = _attributes | PinAttributes::ActiveLow;
             } else if (opt.is("high")) {
                 // Default: Active HIGH.
             } else {
-                throw std::runtime_error("Bad GPIO option");
+                Assert(false, "Bad GPIO option passed to pin: %s", opt());
             }
         }
 
-        // XXX This should not be done when the constructor is called for
-        // validating a setting.
         // Update the R/W mask for ActiveLow setting
         if (_attributes.has(PinAttributes::ActiveLow)) {
-            __pinMode(_index, OUTPUT);
-            __digitalWrite(_index, HIGH);
             _readWriteMask = HIGH;
         } else {
             _readWriteMask = LOW;
@@ -146,9 +147,11 @@ namespace Pins {
             pinModeValue |= OUTPUT;
         }
 
-        // TODO: If the pin is ActiveLow, should we take this into account or not?
-        if (value.has(PinAttributes::InitialHigh)) {
-            __digitalWrite(_index, HIGH);
+        // If the pin is ActiveLow, we should take that into account here:
+        if (value.has(PinAttributes::InitialOn)) {
+            __digitalWrite(_index, HIGH ^ _readWriteMask);
+        } else {
+            __digitalWrite(_index, LOW ^ _readWriteMask);
         }
 
         __pinMode(_index, pinModeValue);
diff --git a/Grbl_Esp32/src/Pins/GPIOPinDetail.h b/Grbl_Esp32/src/Pins/GPIOPinDetail.h
index 204fa791..d217a018 100644
--- a/Grbl_Esp32/src/Pins/GPIOPinDetail.h
+++ b/Grbl_Esp32/src/Pins/GPIOPinDetail.h
@@ -4,7 +4,6 @@
 
 namespace Pins {
     class GPIOPinDetail : public PinDetail {
-        uint8_t         _index;
         PinCapabilities _capabilities;
         PinAttributes   _attributes;
         int             _readWriteMask;
diff --git a/Grbl_Esp32/src/Pins/I2SPinDetail.cpp b/Grbl_Esp32/src/Pins/I2SPinDetail.cpp
index 32831f79..367e2207 100644
--- a/Grbl_Esp32/src/Pins/I2SPinDetail.cpp
+++ b/Grbl_Esp32/src/Pins/I2SPinDetail.cpp
@@ -8,7 +8,7 @@ extern "C" void __digitalWrite(uint8_t pin, uint8_t val);
 
 namespace Pins {
     I2SPinDetail::I2SPinDetail(uint8_t index, const PinOptionsParser& options) :
-        _index(index), _capabilities(PinCapabilities::Output | PinCapabilities::I2S), _attributes(Pins::PinAttributes::Undefined),
+        PinDetail(index), _capabilities(PinCapabilities::Output | PinCapabilities::I2S), _attributes(Pins::PinAttributes::Undefined),
         _readWriteMask(0) {
         // User defined pin capabilities
         for (auto opt : options) {
@@ -24,8 +24,7 @@ namespace Pins {
         }
 
         // Update the R/W mask for ActiveLow setting
-        if (_attributes.ActiveLow) {
-            __digitalWrite(_index, HIGH);
+        if (_attributes.has(PinAttributes::ActiveLow)) {
             _readWriteMask = 1;
         } else {
             _readWriteMask = 0;
@@ -54,6 +53,9 @@ namespace Pins {
         // I2S out pins cannot be configured, hence there
         // is nothing to do here for them. We basically
         // just check for conflicts above...
+
+        // If the pin is ActiveLow, we should take that into account here:
+        write(value.has(PinAttributes::InitialOn) ? HIGH : LOW);
     }
 
     String I2SPinDetail::toString() const { return String("I2S_") + int(_index); }
diff --git a/Grbl_Esp32/src/Pins/PinAttributes.cpp b/Grbl_Esp32/src/Pins/PinAttributes.cpp
index 25f21eb2..20a2208c 100644
--- a/Grbl_Esp32/src/Pins/PinAttributes.cpp
+++ b/Grbl_Esp32/src/Pins/PinAttributes.cpp
@@ -18,7 +18,7 @@ namespace Pins {
     const int     capabilityMask = (1 << (__LINE__ - START_LINE)) - 1;       // -------- Mask capabilities till here
     PinAttributes PinAttributes::ActiveLow(1 << (__LINE__ - START_LINE));
     PinAttributes PinAttributes::Exclusive(1 << (__LINE__ - START_LINE));    // \/       These are attributes
-    PinAttributes PinAttributes::InitialHigh(1 << (__LINE__ - START_LINE));  // \/       These are attributes
+    PinAttributes PinAttributes::InitialOn(1 << (__LINE__ - START_LINE));  // \/       These are attributes
 
     bool PinAttributes::validateWith(PinCapabilities caps) {
         auto capMask  = (caps._value & capabilityMask);
diff --git a/Grbl_Esp32/src/Pins/PinAttributes.h b/Grbl_Esp32/src/Pins/PinAttributes.h
index d270fb3e..e6853f11 100644
--- a/Grbl_Esp32/src/Pins/PinAttributes.h
+++ b/Grbl_Esp32/src/Pins/PinAttributes.h
@@ -35,7 +35,7 @@ namespace Pins {
 
         static PinAttributes ActiveLow;
         static PinAttributes Exclusive;
-        static PinAttributes InitialHigh;
+        static PinAttributes InitialOn;
 
         inline PinAttributes operator|(PinAttributes rhs) { return PinAttributes(_value | rhs._value); }
         inline PinAttributes operator&(PinAttributes rhs) { return PinAttributes(_value & rhs._value); }
diff --git a/Grbl_Esp32/src/Pins/PinCapabilities.cpp b/Grbl_Esp32/src/Pins/PinCapabilities.cpp
index a07b07f3..70111f91 100644
--- a/Grbl_Esp32/src/Pins/PinCapabilities.cpp
+++ b/Grbl_Esp32/src/Pins/PinCapabilities.cpp
@@ -17,10 +17,14 @@ namespace Pins {
     PinCapabilities PinCapabilities::PullUp(1 << (__LINE__ - START_LINE));    // NOTE: Mapped in PinAttributes!
     PinCapabilities PinCapabilities::PullDown(1 << (__LINE__ - START_LINE));  // NOTE: Mapped in PinAttributes!
     PinCapabilities PinCapabilities::ISR(1 << (__LINE__ - START_LINE));       // NOTE: Mapped in PinAttributes!
-    PinCapabilities PinCapabilities::Native(1 << (__LINE__ - START_LINE));
+    
     PinCapabilities PinCapabilities::PWM(1 << (__LINE__ - START_LINE));
     PinCapabilities PinCapabilities::UART(1 << (__LINE__ - START_LINE));
     PinCapabilities PinCapabilities::ADC(1 << (__LINE__ - START_LINE));
     PinCapabilities PinCapabilities::DAC(1 << (__LINE__ - START_LINE));
+
+    PinCapabilities PinCapabilities::Native(1 << (__LINE__ - START_LINE));
     PinCapabilities PinCapabilities::I2S(1 << (__LINE__ - START_LINE));
+    PinCapabilities PinCapabilities::Error(1 << (__LINE__ - START_LINE));
+    PinCapabilities PinCapabilities::Void(1 << (__LINE__ - START_LINE));
 }
diff --git a/Grbl_Esp32/src/Pins/PinCapabilities.h b/Grbl_Esp32/src/Pins/PinCapabilities.h
index dcb66ab1..e093e7ab 100644
--- a/Grbl_Esp32/src/Pins/PinCapabilities.h
+++ b/Grbl_Esp32/src/Pins/PinCapabilities.h
@@ -30,12 +30,18 @@ namespace Pins {
         static PinCapabilities PullDown;  // NOTE: Mapped in PinAttributes!
         static PinCapabilities ISR;       // NOTE: Mapped in PinAttributes!
 
-        static PinCapabilities Native;
+        // Other capabilities:
         static PinCapabilities ADC;
         static PinCapabilities DAC;
         static PinCapabilities PWM;
         static PinCapabilities UART;
+
+        // Each class of pins (e.g. GPIO, etc) should have their own 'capability'. This ensures that we 
+        // can compare classes of pins along with their properties by just looking at the capabilities.
+        static PinCapabilities Native;
         static PinCapabilities I2S;
+        static PinCapabilities Error;
+        static PinCapabilities Void;
 
         inline PinCapabilities operator|(PinCapabilities rhs) { return PinCapabilities(_value | rhs._value); }
         inline PinCapabilities operator&(PinCapabilities rhs) { return PinCapabilities(_value & rhs._value); }
@@ -44,6 +50,6 @@ namespace Pins {
 
         inline operator bool() { return _value != 0; }
 
-        inline bool has(PinCapabilities t) { return (*this & t).operator bool(); }
+        inline bool has(PinCapabilities t) { return (*this & t) == t; }
     };
 }
diff --git a/Grbl_Esp32/src/Pins/PinDetail.h b/Grbl_Esp32/src/Pins/PinDetail.h
index 5e903461..9dbfa85d 100644
--- a/Grbl_Esp32/src/Pins/PinDetail.h
+++ b/Grbl_Esp32/src/Pins/PinDetail.h
@@ -9,10 +9,14 @@
 #include <cstring>
 
 namespace Pins {
+
     // Implementation details of pins.
     class PinDetail {
+    protected:
+        int _index;
+
     public:
-        PinDetail()                   = default;
+        PinDetail(int number) : _index(number) {}
         PinDetail(const PinDetail& o) = delete;
         PinDetail(PinDetail&& o)      = delete;
         PinDetail& operator=(const PinDetail& o) = delete;
@@ -31,6 +35,8 @@ namespace Pins {
 
         virtual String toString() const = 0;
 
+        inline int number() const { return _index; }
+
         virtual ~PinDetail() {}
     };
 }
diff --git a/Grbl_Esp32/src/Pins/PinLookup.h b/Grbl_Esp32/src/Pins/PinLookup.h
index 9d24f82f..a61483a5 100644
--- a/Grbl_Esp32/src/Pins/PinLookup.h
+++ b/Grbl_Esp32/src/Pins/PinLookup.h
@@ -15,8 +15,8 @@ namespace Pins {
         // probably do with less, but this is as safe as it gets.
         PinDetail* _pins[256];
 
-        // Should be plenty for the GPIO _pins:
-        static const int NumberNativePins = 64;
+        // According to Arduino.h there are 40 GPIO pins. So, let's start at 41.
+        static const int NumberNativePins = 41;
 
     public:
         PinLookup();
@@ -53,6 +53,20 @@ namespace Pins {
             return _pins[index];
         }
 
+        int FindExisting(PinDetail* instance) const {
+            // Checks if a pin with this number and capabilities already exists:
+            for (int i = 0; i < 256; ++i) {
+                if (_pins[i] != nullptr) {
+                    if (_pins[i]->number() == instance->number() &&            // check number of pin
+                        _pins[i]->capabilities() == instance->capabilities())  // check pin capabilities
+                    {
+                        return i;
+                    }
+                }
+            }
+            return -1;
+        }
+
         PinLookup(const PinLookup&) = delete;
         PinLookup(PinLookup&&)      = delete;
 
diff --git a/Grbl_Esp32/src/Pins/VoidPinDetail.cpp b/Grbl_Esp32/src/Pins/VoidPinDetail.cpp
index 6098e6bc..3f4b7995 100644
--- a/Grbl_Esp32/src/Pins/VoidPinDetail.cpp
+++ b/Grbl_Esp32/src/Pins/VoidPinDetail.cpp
@@ -1,10 +1,13 @@
 #include "VoidPinDetail.h"
 
 namespace Pins {
-    VoidPinDetail::VoidPinDetail() : _frequency(0), _maxDuty(0) {}
+    VoidPinDetail::VoidPinDetail(int number) : PinDetail(number) {}
     VoidPinDetail::VoidPinDetail(const PinOptionsParser& options) : VoidPinDetail() {}
 
-    PinCapabilities VoidPinDetail::capabilities() const { return PinCapabilities::None; }  // Should we?
+    PinCapabilities VoidPinDetail::capabilities() const {
+        // Void pins support basic functionality. It just won't do you any good.
+        return PinCapabilities::Output | PinCapabilities::Input | PinCapabilities::ISR | PinCapabilities::Void;
+    }
 
     void VoidPinDetail::write(int high) {}
     int  VoidPinDetail::read() { return 0; }
diff --git a/Grbl_Esp32/src/Pins/VoidPinDetail.h b/Grbl_Esp32/src/Pins/VoidPinDetail.h
index 2d5c6164..6f5eaf60 100644
--- a/Grbl_Esp32/src/Pins/VoidPinDetail.h
+++ b/Grbl_Esp32/src/Pins/VoidPinDetail.h
@@ -5,11 +5,8 @@
 
 namespace Pins {
     class VoidPinDetail : public PinDetail {
-        uint32_t _frequency;
-        uint32_t _maxDuty;
-
     public:
-        VoidPinDetail();
+        VoidPinDetail(int number = 0);
         VoidPinDetail(const PinOptionsParser& options);
 
         PinCapabilities capabilities() const override;
diff --git a/Grbl_Esp32/src/Settings.cpp b/Grbl_Esp32/src/Settings.cpp
index 31636544..bde6fc49 100644
--- a/Grbl_Esp32/src/Settings.cpp
+++ b/Grbl_Esp32/src/Settings.cpp
@@ -450,7 +450,7 @@ void PinSetting::load() {
     esp_err_t err = nvs_get_str(_handle, _keyName, NULL, &len);
     if (err) {
 #ifdef PIN_DEBUG
-        grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Initializing pin %s with: %s", _keyName, _defaultValue);
+        grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Initializing pin %s as '%s'", _fullName, _defaultValue);
 #endif
         _storedValue  = _defaultValue;
         _currentValue = Pin::create(_defaultValue);
@@ -460,7 +460,7 @@ void PinSetting::load() {
     err = nvs_get_str(_handle, _keyName, buf, &len);
     if (err) {
 #ifdef PIN_DEBUG
-        grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Initializing pin %s with: %s", _keyName, _defaultValue);
+        grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Initializing pin %s as '%s'", _fullName, _defaultValue);
 #endif
         _storedValue  = _defaultValue;
         _currentValue = Pin::create(_defaultValue);
@@ -468,7 +468,7 @@ void PinSetting::load() {
     }
 
 #ifdef PIN_DEBUG
-    grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Initializing pin %s with: %s", _keyName, _storedValue);
+    grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Initializing pin %s as '%s'", _fullName, _storedValue);
 #endif
     _storedValue  = String(buf);
     _currentValue = Pin::create(_storedValue);
diff --git a/Grbl_Esp32/src/Settings.h b/Grbl_Esp32/src/Settings.h
index 2c54102e..2a804880 100644
--- a/Grbl_Esp32/src/Settings.h
+++ b/Grbl_Esp32/src/Settings.h
@@ -339,7 +339,6 @@ private:
 
 public:
     PinSetting(const char* description, const char* name, const char* defVal, bool (*checker)(char*));
-
     PinSetting(const char* name, const char* defVal, bool (*checker)(char*) = NULL) : PinSetting(NULL, name, defVal, checker) {};
 
     void        load();
diff --git a/Grbl_Esp32/test/Pins/Error.cpp b/Grbl_Esp32/test/Pins/Error.cpp
index 5435dc1a..3eaa38af 100644
--- a/Grbl_Esp32/test/Pins/Error.cpp
+++ b/Grbl_Esp32/test/Pins/Error.cpp
@@ -19,7 +19,7 @@ namespace Pins {
         AssertThrow(errorPin.attachInterrupt([](void* arg) {}, CHANGE));
         AssertThrow(errorPin.detachInterrupt());
 
-        Assert(errorPin.capabilities() == Pin::Capabilities::None, "Incorrect caps");
+        Assert(errorPin.capabilities() == Pin::Capabilities::Error, "Incorrect caps");
 
         Assert(errorPin.name() == "ERROR_PIN");
     }
diff --git a/Grbl_Esp32/test/Pins/GPIO.cpp b/Grbl_Esp32/test/Pins/GPIO.cpp
index c058c93a..54a41600 100644
--- a/Grbl_Esp32/test/Pins/GPIO.cpp
+++ b/Grbl_Esp32/test/Pins/GPIO.cpp
@@ -255,26 +255,26 @@ namespace Pins {
         Pin gpio16 = Pin::create("gpio.16:low");
         Pin gpio17 = Pin::create("gpio.17");
 
-        gpio16.setAttr(Pin::Attr::Output | Pin::Attr::InitialHigh);
+        gpio16.setAttr(Pin::Attr::Output);
         gpio17.setAttr(Pin::Attr::Input);
 
         Assert(false == gpio16.read());
         Assert(true == gpio17.read());
-        Assert(false == GPIONative::read(16));
+        Assert(true == GPIONative::read(16));
         Assert(true == GPIONative::read(17));
 
         gpio16.on();
 
         Assert(true == gpio16.read());
         Assert(false == gpio17.read());
-        Assert(true == GPIONative::read(16));
+        Assert(false == GPIONative::read(16));
         Assert(false == GPIONative::read(17));
 
         gpio16.off();
 
         Assert(false == gpio16.read());
         Assert(true == gpio17.read());
-        Assert(false == GPIONative::read(16));
+        Assert(true == GPIONative::read(16));
         Assert(true == GPIONative::read(17));
     }
 }
diff --git a/Grbl_Esp32/test/Pins/Undefined.cpp b/Grbl_Esp32/test/Pins/Undefined.cpp
index 3a691368..7c105e1b 100644
--- a/Grbl_Esp32/test/Pins/Undefined.cpp
+++ b/Grbl_Esp32/test/Pins/Undefined.cpp
@@ -24,7 +24,38 @@ namespace Pins {
         AssertThrow(unassigned.attachInterrupt([](void* arg) {}, CHANGE));
         AssertThrow(unassigned.detachInterrupt());
 
-        Assert(unassigned.capabilities() == Pin::Capabilities::None);
-        Assert(unassigned.name().equals(UNDEFINED_PIN));
+        Assert(unassigned.capabilities().has(Pin::Capabilities::Void));
+        Assert(unassigned.name().equals(""));
+    }
+
+    Test(Undefined, MultipleInstances) {
+        {
+            Pin unassigned  = Pin::UNDEFINED;
+            Pin unassigned2 = Pin::UNDEFINED;
+
+            Assert(unassigned == unassigned2, "Should evaluate to true.");
+        }
+
+        {
+            Pin unassigned  = Pin::create("");
+            Pin unassigned2 = Pin::UNDEFINED;
+
+            Assert(unassigned == unassigned2, "Should evaluate to true.");
+        }
+
+        {
+            Pin unassigned = Pin::create("void.2");
+            Pin unassigned2 = Pin::UNDEFINED;
+
+            Assert(unassigned != unassigned2, "Second void pin should match first.");
+        }
+
+
+        {
+            Pin unassigned = Pin::create("void.2");
+            Pin unassigned2 = Pin::create("void.2");
+
+            Assert(unassigned == unassigned2, "Second void pin should match first.");
+        }
     }
 }
diff --git a/X86TestSupport/SoftwareGPIO.h b/X86TestSupport/SoftwareGPIO.h
index 6c75fa04..741ee9e6 100644
--- a/X86TestSupport/SoftwareGPIO.h
+++ b/X86TestSupport/SoftwareGPIO.h
@@ -5,45 +5,44 @@
 #include <random>
 
 struct SoftwarePin {
-    SoftwarePin() : callback(), argument(nullptr), mode(0), padValue(false), pinMode(0) {}
+    SoftwarePin() : callback(), argument(nullptr), mode(0), driverValue(false), padValue(false), pinMode(0) {}
 
     void (*callback)(void*);
     void* argument;
     int   mode;
 
+    bool driverValue;
     bool padValue;
     int  pinMode;
 
     void handleISR() { callback(argument); }
 
     void reset() {
-        callback = nullptr;
-        argument = nullptr;
-        mode     = 0;
-        padValue = false;
-        pinMode  = 0;
+        callback    = nullptr;
+        argument    = nullptr;
+        mode        = 0;
+        driverValue = false;
+        padValue    = false;
+        pinMode     = 0;
     }
 
     void handlePadChangeWithHystesis(bool newval) {
         auto oldval = padValue;
-        if (oldval != newval)
-        {
-            std::default_random_engine    generator;
+        if (oldval != newval) {
+            std::default_random_engine       generator;
             std::normal_distribution<double> distribution(5, 2);
-            int count = int(distribution(generator));
+            int                              count = int(distribution(generator));
 
             // Bound it a bit
             if (count < 0) {
                 count = 0;
-            }
-            else if (count > 8) {
+            } else if (count > 8) {
                 count = 8;
             }
             count = count * 2 + 1;  // make it odd.
 
             auto currentVal = oldval;
-            for (int i = 0; i < count; ++i)
-            {
+            for (int i = 0; i < count; ++i) {
                 currentVal = !currentVal;
                 handlePadChange(currentVal);
             }
@@ -52,24 +51,23 @@ struct SoftwarePin {
 
     void handlePadChange(bool newval) {
         auto oldval = padValue;
-        if (oldval != newval)
-        {
+        if (oldval != newval) {
             switch (mode) {
-            case RISING:
-                if (!oldval && newval) {
-                    handleISR();
-                }
-                break;
-            case FALLING:
-                if (oldval && !newval) {
-                    handleISR();
-                }
-                break;
-            case CHANGE:
-                if (oldval != newval) {
-                    handleISR();
-                }
-                break;
+                case RISING:
+                    if (!oldval && newval) {
+                        handleISR();
+                    }
+                    break;
+                case FALLING:
+                    if (oldval && !newval) {
+                        handleISR();
+                    }
+                    break;
+                case CHANGE:
+                    if (oldval != newval) {
+                        handleISR();
+                    }
+                    break;
             }
             padValue = newval;
         }
@@ -103,8 +101,18 @@ public:
     }
 
     void setMode(int index, int mode) {
-        auto& pin   = pins[index];
-        pin.pinMode = mode;
+        auto& pin              = pins[index];
+        auto  oldModeHasOutput = (pin.pinMode & OUTPUT) == OUTPUT;
+        pin.pinMode            = mode;
+        auto modeHasOutput     = (pin.pinMode & OUTPUT) == OUTPUT;
+
+        if (modeHasOutput && !oldModeHasOutput) {
+            if (virtualCircuit != nullptr) {
+                virtualCircuit(pins, index, pin.driverValue);
+            } else if (circuitHandlesHystesis) {
+                pins[index].handlePadChange(pin.driverValue);
+            }
+        }
     }
 
     void writeOutput(int index, bool value) {
@@ -115,10 +123,11 @@ public:
                 virtualCircuit(pins, index, value);
             } else if (circuitHandlesHystesis) {
                 pins[index].handlePadChange(value);
-            }
-            else {
+            } else {
                 pins[index].handlePadChangeWithHystesis(value);
             }
+        } else {
+            pins[index].driverValue = value;
         }
     }