diff --git a/Grbl_Esp32/cpu_map.h b/Grbl_Esp32/cpu_map.h
index 9a0bd58a..3a89274e 100644
--- a/Grbl_Esp32/cpu_map.h
+++ b/Grbl_Esp32/cpu_map.h
@@ -85,7 +85,7 @@
 		#define X_DIRECTION_PIN  	GPIO_NUM_14
 		#define Y_STEP_PIN      	GPIO_NUM_26
 		#define Y_DIRECTION_PIN   	GPIO_NUM_15
-		#define COOLANT_FLOOD_PIN 	GPIO_NUM_25
+		//#define COOLANT_FLOOD_PIN 	GPIO_NUM_25
 		#define SPINDLE_PWM_PIN    	GPIO_NUM_2
 		#define X_LIMIT_PIN      	GPIO_NUM_17
 		#define Z_LIMIT_PIN     	GPIO_NUM_16		
@@ -94,7 +94,7 @@
 		#define X_DIRECTION_PIN  	GPIO_NUM_26
 		#define Y_STEP_PIN      	GPIO_NUM_14
 		#define Y_DIRECTION_PIN   	GPIO_NUM_25
-		#define COOLANT_FLOOD_PIN 	GPIO_NUM_16
+		//#define COOLANT_FLOOD_PIN 	GPIO_NUM_16
 		#define SPINDLE_PWM_PIN    	GPIO_NUM_17
 		#define X_LIMIT_PIN      	GPIO_NUM_2
 		#define Z_LIMIT_PIN     	GPIO_NUM_15 
@@ -114,8 +114,9 @@
 	// OK to comment out to use pin for other features
 	#define STEPPERS_DISABLE_PIN GPIO_NUM_13		
 		
-	#define COOLANT_MIST_PIN   	GPIO_NUM_21
-		
+	//#define COOLANT_MIST_PIN   	GPIO_NUM_21
+	#define USER_DIGITAL_PIN_1	GPIO_NUM_21
+	#define USER_DIGITAL_PIN_2	GPIO_NUM_25
 	
 	
 	#define SPINDLE_PWM_CHANNEL 0
diff --git a/Grbl_Esp32/gcode.cpp b/Grbl_Esp32/gcode.cpp
index 7128ca93..413bb3b0 100644
--- a/Grbl_Esp32/gcode.cpp
+++ b/Grbl_Esp32/gcode.cpp
@@ -368,7 +368,23 @@ uint8_t gc_execute_line(char *line, uint8_t client)
 					FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported M command]
 				}
 				break;
-			default:
+			case 62:
+			case 63:
+				//grbl_sendf(CLIENT_SERIAL,"M%d...\r\n", int_value);
+				word_bit = MODAL_GROUP_M10;				
+				switch (int_value) {
+					case 62:
+						gc_block.modal.io_control = NON_MODAL_IO_ENABLE;
+					break;
+					case 63:
+						gc_block.modal.io_control = NON_MODAL_IO_DISABLE;
+					break;
+					default:
+					break;
+				}
+				
+				break;
+			default:				
 				FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported M command]
 			}
 
@@ -618,6 +634,13 @@ uint8_t gc_execute_line(char *line, uint8_t client)
 		}
 		bit_false(value_words,bit(WORD_P));
 	}
+	
+	if ( (gc_block.modal.io_control == NON_MODAL_IO_ENABLE)  || (gc_block.modal.io_control == NON_MODAL_IO_DISABLE)) {
+		if (bit_isfalse(value_words,bit(WORD_P))) {
+			FAIL(STATUS_GCODE_VALUE_WORD_MISSING);    // [P word missing]
+		}
+		bit_false(value_words,bit(WORD_P));
+	}
 
 	// [11. Set active plane ]: N/A
 	switch (gc_block.modal.plane_select) {
@@ -1216,6 +1239,16 @@ uint8_t gc_execute_line(char *line, uint8_t client)
 	}
 	pl_data->condition |= gc_state.modal.coolant; // Set condition flag for planner use.
 
+    // turn on/off an i/o pin
+	if ( (gc_block.modal.io_control == NON_MODAL_IO_ENABLE) || (gc_block.modal.io_control == NON_MODAL_IO_DISABLE) ) {
+		if (gc_block.values.p <= MAX_USER_DIGITAL_PIN) {
+			sys_io_control(1<<(int)gc_block.values.p, (gc_block.modal.io_control == NON_MODAL_IO_ENABLE));
+		}
+		else {
+			FAIL(STATUS_P_PARAM_MAX_EXCEEDED);
+		}			
+	}	
+
 	// [9. Enable/disable feed rate or spindle overrides ]: NOT SUPPORTED. Always enabled.
 
 	// [10. Dwell ]:
diff --git a/Grbl_Esp32/gcode.h b/Grbl_Esp32/gcode.h
index b50f6b14..f3ddf3f0 100644
--- a/Grbl_Esp32/gcode.h
+++ b/Grbl_Esp32/gcode.h
@@ -46,6 +46,7 @@
 #define MODAL_GROUP_M4 11  // [M0,M1,M2,M30] Stopping
 #define MODAL_GROUP_M7 12 // [M3,M4,M5] Spindle turning
 #define MODAL_GROUP_M8 13 // [M7,M8,M9] Coolant control
+#define MODAL_GROUP_M10 14 // [M62, M63] User Defined http://linuxcnc.org/docs/html/gcode/overview.html#_modal_groups
 
 // #define OTHER_INPUT_F 14
 // #define OTHER_INPUT_S 15
@@ -124,10 +125,17 @@
 #define COOLANT_FLOOD_ENABLE  PL_COND_FLAG_COOLANT_FLOOD // M8 (NOTE: Uses planner condition bit flag)
 #define COOLANT_MIST_ENABLE   PL_COND_FLAG_COOLANT_MIST  // M7 (NOTE: Uses planner condition bit flag)
 
+// modal Group M10: User I/O control
+#define NON_MODAL_IO_ENABLE		1
+#define NON_MODAL_IO_DISABLE	2
+#define MAX_USER_DIGITAL_PIN	4
+
 // Modal Group G8: Tool length offset
 #define TOOL_LENGTH_OFFSET_CANCEL 0 // G49 (Default: Must be zero)
 #define TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC 1 // G43.1
 
+
+
 // Modal Group G12: Active work coordinate system
 // N/A: Stores coordinate system value (54-59) to change to.
 
@@ -192,6 +200,7 @@ typedef struct {
   uint8_t program_flow;    // {M0,M1,M2,M30}
   uint8_t coolant;         // {M7,M8,M9}
   uint8_t spindle;         // {M3,M4,M5}
+  uint8_t io_control;      // {M62, M63}
 } gc_modal_t;
 
 typedef struct {
diff --git a/Grbl_Esp32/grbl.h b/Grbl_Esp32/grbl.h
index 704fda23..c3503a10 100644
--- a/Grbl_Esp32/grbl.h
+++ b/Grbl_Esp32/grbl.h
@@ -20,7 +20,7 @@
 
 // Grbl versioning system
 #define GRBL_VERSION "1.1f"
-#define GRBL_VERSION_BUILD "20191011"
+#define GRBL_VERSION_BUILD "20191015"
 
 //#include <sdkconfig.h>
 #include <Arduino.h>
diff --git a/Grbl_Esp32/motion_control.cpp b/Grbl_Esp32/motion_control.cpp
index 3e31e21c..64b952e8 100644
--- a/Grbl_Esp32/motion_control.cpp
+++ b/Grbl_Esp32/motion_control.cpp
@@ -418,7 +418,9 @@ void mc_reset()
 
     // Kill spindle and coolant.
     spindle_stop();
-    coolant_stop();		
+    coolant_stop();
+	// turn off all digital I/O
+	sys_io_control(0xFF, false);
 		
 		#ifdef ENABLE_SD_CARD
 			// do we need to stop a running SD job?
diff --git a/Grbl_Esp32/report.h b/Grbl_Esp32/report.h
index 33115346..82cd68b0 100644
--- a/Grbl_Esp32/report.h
+++ b/Grbl_Esp32/report.h
@@ -62,6 +62,7 @@
 #define STATUS_GCODE_UNUSED_WORDS 36
 #define STATUS_GCODE_G43_DYNAMIC_AXIS_ERROR 37
 #define STATUS_GCODE_MAX_VALUE_EXCEEDED 38
+#define STATUS_P_PARAM_MAX_EXCEEDED 39
 
 #define STATUS_SD_FAILED_MOUNT 60 // SD Failed to mount
 #define STATUS_SD_FAILED_READ 61 // SD Failed to read file
diff --git a/Grbl_Esp32/spindle_control.cpp b/Grbl_Esp32/spindle_control.cpp
index 44c77e7f..3714b8c2 100644
--- a/Grbl_Esp32/spindle_control.cpp
+++ b/Grbl_Esp32/spindle_control.cpp
@@ -106,16 +106,10 @@ void spindle_set_speed(uint32_t pwm_value)
 		#ifndef INVERT_SPINDLE_PWM
 			grbl_analogWrite(SPINDLE_PWM_CHANNEL, pwm_value);			
 		#else
-			if (pwm_value == 0) {
-				grbl_analogWrite(SPINDLE_PWM_CHANNEL, (1<<SPINDLE_PWM_BIT_PRECISION));
-			}
-			else {
-				grbl_analogWrite(SPINDLE_PWM_CHANNEL, (1<<SPINDLE_PWM_BIT_PRECISION) - pwm_value - 1);
-			}			
+			grbl_analogWrite(SPINDLE_PWM_CHANNEL, (1<<SPINDLE_PWM_BIT_PRECISION) - pwm_value);
 		#endif
 		
 	#endif
-
 	
 }
 
diff --git a/Grbl_Esp32/system.cpp b/Grbl_Esp32/system.cpp
index fb7eab68..84d1b288 100644
--- a/Grbl_Esp32/system.cpp
+++ b/Grbl_Esp32/system.cpp
@@ -26,62 +26,82 @@ xQueueHandle control_sw_queue;  // used by control switch debouncing
 void system_ini() // Renamed from system_init() due to conflict with esp32 files
 {	
 	// setup control inputs
-#ifndef IGNORE_CONTROL_PINS	
-	
-	#ifdef CONTROL_SAFETY_DOOR_PIN
-		pinMode(CONTROL_SAFETY_DOOR_PIN, INPUT);
-		attachInterrupt(digitalPinToInterrupt(CONTROL_SAFETY_DOOR_PIN), isr_control_inputs, CHANGE);
-	#endif
-	#ifdef CONTROL_RESET_PIN
-		pinMode(CONTROL_RESET_PIN, INPUT);
-		attachInterrupt(digitalPinToInterrupt(CONTROL_RESET_PIN), isr_control_inputs, CHANGE);
-	#endif
-	#ifdef CONTROL_FEED_HOLD_PIN
-		pinMode(CONTROL_FEED_HOLD_PIN, INPUT);
-		attachInterrupt(digitalPinToInterrupt(CONTROL_FEED_HOLD_PIN), isr_control_inputs, CHANGE);
-	#endif
-	#ifdef CONTROL_CYCLE_START_PIN
-		pinMode(CONTROL_CYCLE_START_PIN, INPUT);
-		attachInterrupt(digitalPinToInterrupt(CONTROL_CYCLE_START_PIN), isr_control_inputs, CHANGE);
-	#endif
-	
-	#ifdef MACRO_BUTTON_0_PIN
-		pinMode(MACRO_BUTTON_0_PIN, INPUT_PULLUP);
-		attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_0_PIN), isr_control_inputs, CHANGE);
-	#endif
-
-	#ifdef MACRO_BUTTON_1_PIN
-		pinMode(MACRO_BUTTON_1_PIN, INPUT_PULLUP);
-		attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_1_PIN), isr_control_inputs, CHANGE);
-	#endif
-
-	#ifdef MACRO_BUTTON_2_PIN
-		pinMode(MACRO_BUTTON_2_PIN, INPUT_PULLUP);
-		attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_2_PIN), isr_control_inputs, CHANGE);
-	#endif
-
-	#ifdef MACRO_BUTTON_3_PIN
-		pinMode(MACRO_BUTTON_3_PIN, INPUT_PULLUP);
-		attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_3_PIN), isr_control_inputs, CHANGE);
-	#endif
-	
-	#ifdef ENABLE_CONTROL_SW_DEBOUNCE
-		// setup task used for debouncing
-		control_sw_queue = xQueueCreate(10, sizeof( int ));
+	#ifndef IGNORE_CONTROL_PINS
 		
-		xTaskCreate(controlCheckTask, 
-					"controlCheckTask", 
-					2048, 
-					NULL, 
-					5, // priority 
-					NULL);
+		#ifdef CONTROL_SAFETY_DOOR_PIN
+			pinMode(CONTROL_SAFETY_DOOR_PIN, INPUT);
+			attachInterrupt(digitalPinToInterrupt(CONTROL_SAFETY_DOOR_PIN), isr_control_inputs, CHANGE);
+		#endif
+		#ifdef CONTROL_RESET_PIN
+			pinMode(CONTROL_RESET_PIN, INPUT);
+			attachInterrupt(digitalPinToInterrupt(CONTROL_RESET_PIN), isr_control_inputs, CHANGE);
+		#endif
+		#ifdef CONTROL_FEED_HOLD_PIN
+			pinMode(CONTROL_FEED_HOLD_PIN, INPUT);
+			attachInterrupt(digitalPinToInterrupt(CONTROL_FEED_HOLD_PIN), isr_control_inputs, CHANGE);
+		#endif
+		#ifdef CONTROL_CYCLE_START_PIN
+			pinMode(CONTROL_CYCLE_START_PIN, INPUT);
+			attachInterrupt(digitalPinToInterrupt(CONTROL_CYCLE_START_PIN), isr_control_inputs, CHANGE);
+		#endif
+		
+		#ifdef MACRO_BUTTON_0_PIN
+			pinMode(MACRO_BUTTON_0_PIN, INPUT_PULLUP);
+			attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_0_PIN), isr_control_inputs, CHANGE);
+		#endif
+
+		#ifdef MACRO_BUTTON_1_PIN
+			pinMode(MACRO_BUTTON_1_PIN, INPUT_PULLUP);
+			attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_1_PIN), isr_control_inputs, CHANGE);
+		#endif
+
+		#ifdef MACRO_BUTTON_2_PIN
+			pinMode(MACRO_BUTTON_2_PIN, INPUT_PULLUP);
+			attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_2_PIN), isr_control_inputs, CHANGE);
+		#endif
+
+		#ifdef MACRO_BUTTON_3_PIN
+			pinMode(MACRO_BUTTON_3_PIN, INPUT_PULLUP);
+			attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_3_PIN), isr_control_inputs, CHANGE);
+		#endif	
+		
+		#ifdef ENABLE_CONTROL_SW_DEBOUNCE
+			// setup task used for debouncing
+			control_sw_queue = xQueueCreate(10, sizeof( int ));
+			
+			xTaskCreate(controlCheckTask, 
+						"controlCheckTask", 
+						2048, 
+						NULL, 
+						5, // priority 
+						NULL);
+		#endif
+
 	#endif
 
-#endif
-   //customize pin definition if needed
-#if (GRBL_SPI_SS != -1) || (GRBL_SPI_MISO != -1) || (GRBL_SPI_MOSI != -1) || (GRBL_SPI_SCK != -1)
-    SPI.begin(GRBL_SPI_SCK, GRBL_SPI_MISO, GRBL_SPI_MOSI, GRBL_SPI_SS);
-#endif 
+	//customize pin definition if needed
+	#if (GRBL_SPI_SS != -1) || (GRBL_SPI_MISO != -1) || (GRBL_SPI_MOSI != -1) || (GRBL_SPI_SCK != -1)
+		SPI.begin(GRBL_SPI_SCK, GRBL_SPI_MISO, GRBL_SPI_MOSI, GRBL_SPI_SS);
+	#endif 
+
+	// Setup USER_DIGITAL_PINs controlled by M62 and M63
+	#ifdef USER_DIGITAL_PIN_1
+		pinMode(USER_DIGITAL_PIN_1, OUTPUT);	
+	#endif
+
+	#ifdef USER_DIGITAL_PIN_2
+		pinMode(USER_DIGITAL_PIN_2, OUTPUT);
+	#endif
+
+	#ifdef USER_DIGITAL_PIN_3
+		pinMode(USER_DIGITAL_PIN_3, OUTPUT);
+	#endif
+
+	#ifdef USER_DIGITAL_PIN_4
+		pinMode(USER_DIGITAL_PIN_4, OUTPUT);
+	#endif
+	
+	sys_io_control(0xFF, false); // turn them all off
 }
 
 #ifdef ENABLE_CONTROL_SW_DEBOUNCE
@@ -518,7 +538,7 @@ void system_exec_control_pin(uint8_t pin) {
 		bit_true(sys_rt_exec_state, EXEC_FEED_HOLD);    
 	}		
 	else if (bit_istrue(pin,CONTROL_PIN_INDEX_SAFETY_DOOR)) {
-		bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);    
+		bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);  
 	}
 	#ifdef MACRO_BUTTON_0_PIN
 	else if (pin == 96) {	
@@ -552,4 +572,33 @@ int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps)
 	return( (steps[A_MOTOR] - steps[B_MOTOR])/2 );
 }
 
-
+// io_num is the virtual pin# and has nothing to do with the actual esp32 GPIO_NUM_xx
+// It uses a mask so all can be turned of in ms_reset
+void sys_io_control(uint8_t io_num_mask, bool turnOn) {
+	protocol_buffer_synchronize();
+	#ifdef USER_DIGITAL_PIN_1
+		if (io_num_mask & 1<<1) {
+			digitalWrite(USER_DIGITAL_PIN_1, turnOn);
+			return;
+		}
+	#endif
+	#ifdef USER_DIGITAL_PIN_2
+		if (io_num_mask & 1<<2) {
+			digitalWrite(USER_DIGITAL_PIN_2, turnOn);
+			return;
+		}
+	#endif
+	#ifdef USER_DIGITAL_PIN_3
+		if (io_num_mask & 1<<3) {
+			digitalWrite(USER_DIGITAL_PIN_3, turnOn);
+			return;
+		}
+	#endif
+	#ifdef USER_DIGITAL_PIN_4
+		if (io_num_mask & 1<<4) {
+			digitalWrite(USER_DIGITAL_PIN_4, turnOn);
+			return;
+		}
+	#endif
+	grbl_sendf(CLIENT_SERIAL, "[MSG:Undefined IO pin...%d]\r\n", io_num_mask);
+}
\ No newline at end of file
diff --git a/Grbl_Esp32/system.h b/Grbl_Esp32/system.h
index 61677860..787a82c8 100644
--- a/Grbl_Esp32/system.h
+++ b/Grbl_Esp32/system.h
@@ -225,5 +225,7 @@ int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps);
 void controlCheckTask(void *pvParameters);
 void system_exec_control_pin(uint8_t pin);
 
+void sys_io_control(uint8_t io_num_mask, bool turnOn);
+
 
 #endif
diff --git a/doc/csv/error_codes_en_US.csv b/doc/csv/error_codes_en_US.csv
index 43d0b984..b64832bf 100644
--- a/doc/csv/error_codes_en_US.csv
+++ b/doc/csv/error_codes_en_US.csv
@@ -35,6 +35,7 @@
 "36","Invalid gcode ID:36","Unused value words found in block."
 "37","Invalid gcode ID:37","G43.1 dynamic tool length offset is not assigned to configured tool length axis."
 "38","Invalid gcode ID:38","Tool number greater than max supported value."
+"39","Parameter P exceeded max ID:39","Parameter P exceeded max"
 "60","SD failed to mount"
 "61","SD card failed to open file for reading"
 "62","SD card failed to open directory"
diff --git a/doc/script/piecewise_example.png b/doc/script/piecewise_example.png
new file mode 100644
index 00000000..83b24d65
Binary files /dev/null and b/doc/script/piecewise_example.png differ