diff --git a/g2core/board/G2v9/board_gpio.cpp b/g2core/board/G2v9/board_gpio.cpp
index 4daf011d..6eb45c10 100644
--- a/g2core/board/G2v9/board_gpio.cpp
+++ b/g2core/board/G2v9/board_gpio.cpp
@@ -56,40 +56,40 @@
 
 /**** Setup Actual Objects ****/
 
-gpioDigitalInputPin<IRQPin<Motate::kInput1_PinNumber>>  din1  {DI1_MODE,  1};
-gpioDigitalInputPin<IRQPin<Motate::kInput2_PinNumber>>  din2  {DI2_MODE,  2};
-gpioDigitalInputPin<IRQPin<Motate::kInput3_PinNumber>>  din3  {DI3_MODE,  3};
-gpioDigitalInputPin<IRQPin<Motate::kInput4_PinNumber>>  din4  {DI4_MODE,  4};
-gpioDigitalInputPin<IRQPin<Motate::kInput5_PinNumber>>  din5  {DI5_MODE,  5};
-gpioDigitalInputPin<IRQPin<Motate::kInput6_PinNumber>>  din6  {DI6_MODE,  6};
-gpioDigitalInputPin<IRQPin<Motate::kInput7_PinNumber>>  din7  {DI7_MODE,  7};
-gpioDigitalInputPin<IRQPin<Motate::kInput8_PinNumber>>  din8  {DI8_MODE,  8};
-gpioDigitalInputPin<IRQPin<Motate::kInput9_PinNumber>>  din9  {DI9_MODE,  9};
-// gpioDigitalInputPin<IRQPin<Motate::kInput10_PinNumber>> din10 {DI10_MODE, 10};
-// gpioDigitalInputPin<IRQPin<Motate::kInput11_PinNumber>> din11 {DI11_MODE, 11};
-// gpioDigitalInputPin<IRQPin<Motate::kInput12_PinNumber>> din12 {DI12_MODE, 12};
 
-gpioDigitalOutputPin<OutputType<OUTPUT1_PWM,  Motate::kOutput1_PinNumber>>  dout1  { DO1_MODE,  (uint32_t)200000 };
-gpioDigitalOutputPin<OutputType<OUTPUT2_PWM,  Motate::kOutput2_PinNumber>>  dout2  { DO2_MODE,  (uint32_t)200000 };
-gpioDigitalOutputPin<OutputType<OUTPUT3_PWM,  Motate::kOutput3_PinNumber>>  dout3  { DO3_MODE,  (uint32_t)200000 };
-gpioDigitalOutputPin<OutputType<OUTPUT4_PWM,  Motate::kOutput4_PinNumber>>  dout4  { DO4_MODE,  (uint32_t)200000 };
-gpioDigitalOutputPin<OutputType<OUTPUT5_PWM,  Motate::kOutput5_PinNumber>>  dout5  { DO5_MODE,  (uint32_t)200000 };
-gpioDigitalOutputPin<OutputType<OUTPUT6_PWM,  Motate::kOutput6_PinNumber>>  dout6  { DO6_MODE,  (uint32_t)200000 };
-gpioDigitalOutputPin<OutputType<OUTPUT7_PWM,  Motate::kOutput7_PinNumber>>  dout7  { DO7_MODE,  (uint32_t)200000 };
-gpioDigitalOutputPin<OutputType<OUTPUT8_PWM,  Motate::kOutput8_PinNumber>>  dout8  { DO8_MODE,  (uint32_t)200000 };
-gpioDigitalOutputPin<OutputType<OUTPUT9_PWM,  Motate::kOutput9_PinNumber>>  dout9  { DO9_MODE,  (uint32_t)200000 };
-gpioDigitalOutputPin<OutputType<OUTPUT10_PWM, Motate::kOutput10_PinNumber>> dout10 { DO10_MODE, (uint32_t)200000 };
-gpioDigitalOutputPin<OutputType<OUTPUT11_PWM, Motate::kOutput11_PinNumber>> dout11 { DO11_MODE, (uint32_t)200000 };
-gpioDigitalOutputPin<OutputType<OUTPUT12_PWM, Motate::kOutput12_PinNumber>> dout12 { DO12_MODE, (uint32_t)200000 };
-gpioDigitalOutputPin<OutputType<OUTPUT13_PWM, Motate::kOutput13_PinNumber>> dout13 { DO13_MODE, (uint32_t)200000 };
-
-/**** Setup Arrays - these are extern and MUST match the board_gpio.h ****/
+gpioDigitalInputPin<IRQPin<Motate::kInput1_PinNumber>>  din1  {DI1_ENABLED,  DI1_POLARITY,  1, DI1_EXTERNAL_NUMBER, Motate::kPinInterruptOnChange|Motate::kPinInterruptPriorityHigh};
+gpioDigitalInputPin<IRQPin<Motate::kInput2_PinNumber>>  din2  {DI2_ENABLED,  DI2_POLARITY,  2, DI2_EXTERNAL_NUMBER, Motate::kPinInterruptOnChange|Motate::kPinInterruptPriorityHigh};
+gpioDigitalInputPin<IRQPin<Motate::kInput3_PinNumber>>  din3  {DI3_ENABLED,  DI3_POLARITY,  3, DI3_EXTERNAL_NUMBER, Motate::kPinInterruptOnChange|Motate::kPinInterruptPriorityHigh};
+gpioDigitalInputPin<IRQPin<Motate::kInput4_PinNumber>>  din4  {DI4_ENABLED,  DI4_POLARITY,  4, DI4_EXTERNAL_NUMBER, Motate::kPinInterruptOnChange|Motate::kPinInterruptPriorityHigh};
+gpioDigitalInputPin<IRQPin<Motate::kInput5_PinNumber>>  din5  {DI5_ENABLED,  DI5_POLARITY,  5, DI5_EXTERNAL_NUMBER, Motate::kPinInterruptOnChange|Motate::kPinInterruptPriorityHigh};
+gpioDigitalInputPin<IRQPin<Motate::kInput6_PinNumber>>  din6  {DI6_ENABLED,  DI6_POLARITY,  6, DI6_EXTERNAL_NUMBER, Motate::kPinInterruptOnChange|Motate::kPinInterruptPriorityHigh};
+gpioDigitalInputPin<IRQPin<Motate::kInput7_PinNumber>>  din7  {DI7_ENABLED,  DI7_POLARITY,  7, DI7_EXTERNAL_NUMBER, Motate::kPinInterruptOnChange|Motate::kPinInterruptPriorityHigh};
+gpioDigitalInputPin<IRQPin<Motate::kInput8_PinNumber>>  din8  {DI8_ENABLED,  DI8_POLARITY,  8, DI8_EXTERNAL_NUMBER, Motate::kPinInterruptOnChange|Motate::kPinInterruptPriorityHigh};
+gpioDigitalInputPin<IRQPin<Motate::kInput9_PinNumber>>  din9  {DI9_ENABLED,  DI9_POLARITY,  9, DI9_EXTERNAL_NUMBER, Motate::kPinInterruptOnChange|Motate::kPinInterruptPriorityHigh};
+// gpioDigitalInputPin<IRQPin<Motate::kInput10_PinNumber>> din10 {DI10_ENABLED, DI10_POLARITY, 10, DI10_EXTERNAL_NUMBER, Motate::kPinInterruptOnChange|Motate::kPinInterruptPriorityHigh};
+// gpioDigitalInputPin<IRQPin<Motate::kInput11_PinNumber>> din11 {DI11_ENABLED, DI11_POLARITY, 11, DI11_EXTERNAL_NUMBER, Motate::kPinInterruptOnChange|Motate::kPinInterruptPriorityHigh};
+// gpioDigitalInputPin<IRQPin<Motate::kInput12_PinNumber>> din12 {DI12_ENABLED, DI12_POLARITY, 12, DI12_EXTERNAL_NUMBER, Motate::kPinInterruptOnChange|Motate::kPinInterruptPriorityHigh};
 
 gpioDigitalInput*  const d_in[] = {&din1, &din2, &din3, &din4, &din5, &din6, &din7, &din8, &din9};
+
+
+gpioDigitalOutputPin<OutputType<OUTPUT1_PWM,  Motate::kOutput1_PinNumber>>  dout1  { DO1_ENABLED,  DO1_POLARITY,  DO1_EXTERNAL_NUMBER,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT2_PWM,  Motate::kOutput2_PinNumber>>  dout2  { DO2_ENABLED,  DO2_POLARITY,  DO2_EXTERNAL_NUMBER,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT3_PWM,  Motate::kOutput3_PinNumber>>  dout3  { DO3_ENABLED,  DO3_POLARITY,  DO3_EXTERNAL_NUMBER,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT4_PWM,  Motate::kOutput4_PinNumber>>  dout4  { DO4_ENABLED,  DO4_POLARITY,  DO4_EXTERNAL_NUMBER,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT5_PWM,  Motate::kOutput5_PinNumber>>  dout5  { DO5_ENABLED,  DO5_POLARITY,  DO5_EXTERNAL_NUMBER,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT6_PWM,  Motate::kOutput6_PinNumber>>  dout6  { DO6_ENABLED,  DO6_POLARITY,  DO6_EXTERNAL_NUMBER,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT7_PWM,  Motate::kOutput7_PinNumber>>  dout7  { DO7_ENABLED,  DO7_POLARITY,  DO7_EXTERNAL_NUMBER,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT8_PWM,  Motate::kOutput8_PinNumber>>  dout8  { DO8_ENABLED,  DO8_POLARITY,  DO8_EXTERNAL_NUMBER,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT9_PWM,  Motate::kOutput9_PinNumber>>  dout9  { DO9_ENABLED,  DO9_POLARITY,  DO9_EXTERNAL_NUMBER,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT10_PWM, Motate::kOutput10_PinNumber>> dout10 { DO10_ENABLED, DO10_POLARITY, DO10_EXTERNAL_NUMBER, (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT11_PWM, Motate::kOutput11_PinNumber>> dout11 { DO11_ENABLED, DO11_POLARITY, DO11_EXTERNAL_NUMBER, (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT12_PWM, Motate::kOutput12_PinNumber>> dout12 { DO12_ENABLED, DO12_POLARITY, DO12_EXTERNAL_NUMBER, (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT13_PWM, Motate::kOutput13_PinNumber>> dout13 { DO13_ENABLED, DO13_POLARITY, DO13_EXTERNAL_NUMBER, (uint32_t)200000 };
+
 gpioDigitalOutput* const d_out[] = {&dout1, &dout2, &dout3, &dout4, &dout5, &dout6, &dout7, &dout8, &dout9, &dout10, &dout11, &dout12, &dout13};
-// not yet used
-// gpioAnalogInput*    a_in[A_IN_CHANNELS];
-// gpioAnalogOutput*   a_out[A_OUT_CHANNELS];
+
+gpioAnalogInput*    const a_in[] = {};
 
 /************************************************************************************
  **** CODE **************************************************************************
diff --git a/g2core/board/G2v9/board_gpio.h b/g2core/board/G2v9/board_gpio.h
index 25a1cddc..9b748098 100644
--- a/g2core/board/G2v9/board_gpio.h
+++ b/g2core/board/G2v9/board_gpio.h
@@ -56,7 +56,7 @@ extern gpioDigitalOutput*  const d_out[D_OUT_CHANNELS];
 using Motate::IRQPin;
 using Motate::PWMOutputPin;
 using Motate::PWMLikeOutputPin;
-template<bool can_pwm, pin_number... V>
+template<bool can_pwm, Motate::pin_number... V>
 using OutputType = typename std::conditional<can_pwm, PWMOutputPin<V...>, PWMLikeOutputPin<V...>>::type;
 
 extern gpioDigitalInputPin<IRQPin<Motate::kInput1_PinNumber>>  din1;
diff --git a/g2core/board/G2v9/board_stepper.h b/g2core/board/G2v9/board_stepper.h
index fde1f4f5..ce20ca9a 100644
--- a/g2core/board/G2v9/board_stepper.h
+++ b/g2core/board/G2v9/board_stepper.h
@@ -88,6 +88,8 @@ extern StepDirStepper<Motate::kSocket4_StepPinNumber,
 
 extern Stepper* Motors[MOTORS];
 
+extern ExternalEncoder* const ExternalEncoders[0];
+
 void board_stepper_init();
 
-#endif  // BOARD_STEPPER_H_ONCE
\ No newline at end of file
+#endif  // BOARD_STEPPER_H_ONCE
diff --git a/g2core/board/G2v9/board_xio.cpp b/g2core/board/G2v9/board_xio.cpp
index 70ff4599..28bc0b47 100644
--- a/g2core/board/G2v9/board_xio.cpp
+++ b/g2core/board/G2v9/board_xio.cpp
@@ -73,7 +73,8 @@ void board_hardware_init(void)  // called 1st
 #if XIO_HAS_USB
     // Init USB
     usb.attach();                   // USB setup. Runs in "background" as the rest of this executes
-#endif // XIO_HAS_USB
+    usb.checkAndHandleVbusChange();
+#endif  // XIO_HAS_USB
 }
 
 
diff --git a/g2core/board/G2v9/board_xio.h b/g2core/board/G2v9/board_xio.h
index 9fea5e0f..f14bad6e 100644
--- a/g2core/board/G2v9/board_xio.h
+++ b/g2core/board/G2v9/board_xio.h
@@ -38,10 +38,10 @@
 #include "MotateUSBCDC.h"
 
 #if USB_SERIAL_PORTS_EXPOSED == 1
-typedef Motate::USBDevice< USBDeviceHardware, Motate::USBCDC > XIOUSBDevice_t;
+typedef Motate::USBDevice< Motate::USBDeviceHardware, Motate::USBCDC > XIOUSBDevice_t;
 #endif
 #if USB_SERIAL_PORTS_EXPOSED == 2
-typedef Motate::USBDevice< USBDeviceHardware, Motate::USBCDC, Motate::USBCDC > XIOUSBDevice_t;
+typedef Motate::USBDevice< Motate::USBDeviceHardware, Motate::USBCDC, Motate::USBCDC > XIOUSBDevice_t;
 #endif
 
 extern XIOUSBDevice_t usb;
diff --git a/g2core/board/G2v9/hardware.h b/g2core/board/G2v9/hardware.h
index 105e8e5d..b97a1f28 100644
--- a/g2core/board/G2v9/hardware.h
+++ b/g2core/board/G2v9/hardware.h
@@ -106,6 +106,9 @@ using Motate::OutputPin;
 #define FREQUENCY_DDA		150000UL		// Hz step frequency. Interrupts actually fire at 2x (300 KHz)
 #define FREQUENCY_DWELL		1000UL
 
+#define PLANNER_QUEUE_SIZE (48)
+#define SECONDARY_QUEUE_SIZE (10)
+
 /**** Motate Definitions ****/
 
 // Timer definitions. See stepper.h and other headers for setup
diff --git a/g2core/device/step_dir_driver/step_dir_driver.h b/g2core/device/step_dir_driver/step_dir_driver.h
index 813de444..e8ec0e7d 100644
--- a/g2core/device/step_dir_driver/step_dir_driver.h
+++ b/g2core/device/step_dir_driver/step_dir_driver.h
@@ -32,6 +32,7 @@
 #include "MotateTimers.h"
 
 #include "stepper.h"
+#include "gpio.h" // for ioPolarity
 
 using Motate::pin_number;
 using Motate::OutputPin;
@@ -67,11 +68,11 @@ struct StepDirStepper final : Stepper  {
     OutputPin<ms2_num>     _ms2;
     PWMOutputPin<vref_num> _vref;
 
-    ioMode _step_polarity;                   // IO_ACTIVE_LOW or IO_ACTIVE_HIGH
-    ioMode _enable_polarity;                 // IO_ACTIVE_LOW or IO_ACTIVE_HIGH
+    ioPolarity _step_polarity;                   // IO_ACTIVE_LOW or IO_ACTIVE_HIGH
+    ioPolarity _enable_polarity;                 // IO_ACTIVE_LOW or IO_ACTIVE_HIGH
 
     // sets default pwm freq for all motor vrefs (commented line below also sets HiZ)
-    StepDirStepper(ioMode step_polarity, ioMode enable_polarity, const uint32_t frequency = 250000) :
+    StepDirStepper(ioPolarity step_polarity, ioPolarity enable_polarity, const uint32_t frequency = 250000) :
         Stepper{},
         _step{step_polarity==IO_ACTIVE_LOW?kStartHigh:kStartLow},
         _enable{enable_polarity==IO_ACTIVE_LOW?kStartHigh:kStartLow},
@@ -179,23 +180,23 @@ struct StepDirStepper final : Stepper  {
         }
     };
 
-    ioMode getStepPolarity() const override
+    ioPolarity getStepPolarity() const override
     {
     	return _step_polarity;
     };
 
-    void setStepPolarity(ioMode new_sp) override
+    void setStepPolarity(ioPolarity new_sp) override
     {
     	_step_polarity = new_sp;
     	stepEnd();
     };
 
-    ioMode getEnablePolarity() const override
+    ioPolarity getEnablePolarity() const override
     {
         return _enable_polarity;
     };
 
-    void setEnablePolarity(ioMode new_mp) override
+    void setEnablePolarity(ioPolarity new_mp) override
     {
         _enable_polarity = new_mp;
         // this is a misnomer, but handles the logic we need for asserting the newly adjusted enable line correctly