diff --git a/Grbl_Esp32/src/Pins/Ledc.cpp b/Grbl_Esp32/src/Pins/Ledc.cpp
new file mode 100644
index 00000000..57346687
--- /dev/null
+++ b/Grbl_Esp32/src/Pins/Ledc.cpp
@@ -0,0 +1,57 @@
+#include "Ledc.h"
+
+/*
+    Ledc.cpp
+
+    This is a driver for the ESP32 LEDC controller that is similar
+    to the Arduino HAL driver for LEDC.  It differs from the Arduino
+    driver by being able to handle output pin inversion in hardware,
+    and by having the ledcSetDuty function in IRAM so it is safe
+    to call it from ISRs.
+
+    Part of Grbl_ESP32
+
+    2021 -	Mitch Bradley
+
+    Grbl is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+    Grbl is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+    You should have received a copy of the GNU General Public License
+    along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <soc/ledc_struct.h>
+#include <driver/ledc.h>
+
+extern "C" void __pinMode(uint8_t pin, uint8_t mode);
+
+void ledcInit(Pin& pin, uint8_t chan, double freq, uint8_t bit_num) {
+    ledcSetup(chan, freq, bit_num);  // setup the channel
+
+    auto nativePin = pin.getNative(Pin::Capabilities::PWM);
+
+    // This is equivalent to ledcAttachPin with the addition of
+    // using the hardware inversion function in the GPIO matrix.
+    // We use that to apply the active low function in hardware.
+    __pinMode(nativePin, OUTPUT);
+    uint8_t function    = ((chan / 8) ? LEDC_LS_SIG_OUT0_IDX : LEDC_HS_SIG_OUT0_IDX) + (chan % 8);
+    bool    isActiveLow = pin.getAttr().has(Pin::Attr::ActiveLow);
+    pinMatrixOutAttach(nativePin, function, isActiveLow, false);
+}
+
+void IRAM_ATTR ledcSetDuty(uint8_t chan, uint32_t duty) {
+    uint8_t g = chan >> 3, c = chan & 7;
+    bool    on = duty != 0;
+    // This is like ledcWrite, but it is called from an ISR
+    // and ledcWrite uses RTOS features not compatible with ISRs
+    // Also, ledcWrite infers enable from duty, which is incorrect
+    // for use with RcServo which wants the
+    LEDC.channel_group[g].channel[c].duty.duty        = duty << 4;
+    LEDC.channel_group[g].channel[c].conf0.sig_out_en = on;
+    LEDC.channel_group[g].channel[c].conf1.duty_start = on;
+}
diff --git a/Grbl_Esp32/src/Pins/Ledc.h b/Grbl_Esp32/src/Pins/Ledc.h
new file mode 100644
index 00000000..be6107c4
--- /dev/null
+++ b/Grbl_Esp32/src/Pins/Ledc.h
@@ -0,0 +1,31 @@
+#pragma once
+
+/*
+    Ledc.h
+
+    This is a driver for the ESP32 LEDC controller that is similar
+    to the Arduino HAL driver for LEDC.  It differs from the Arduino
+    driver by being able to handle output pin inversion in hardware,
+    and by having the ledcSetDuty function in IRAM so it is safe
+    to call it from ISRs.
+
+    Part of Grbl_ESP32
+
+    2021 -	Mitch Bradley
+
+    Grbl is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+    Grbl is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+    You should have received a copy of the GNU General Public License
+    along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "../Pin.h"
+
+extern void ledcInit(Pin& pin, uint8_t chan, double freq, uint8_t bit_num);
+extern void ledcSetDuty(uint8_t chan, uint32_t duty);