diff --git a/hwconf/hw.h b/hwconf/hw.h
index ade94a05..9e3374eb 100644
--- a/hwconf/hw.h
+++ b/hwconf/hw.h
@@ -231,6 +231,12 @@
 #ifndef AUX_OFF
 #define AUX_OFF()
 #endif
+#ifndef AUX2_ON
+#define AUX2_ON()
+#endif
+#ifndef AUX2_OFF
+#define AUX2_OFF()
+#endif
 
 #ifndef PHASE_FILTER_ON
 #define PHASE_FILTER_ON()
diff --git a/hwconf/hw_60v2_alva.c b/hwconf/hw_60v2_alva.c
index d315b53a..50d2c036 100644
--- a/hwconf/hw_60v2_alva.c
+++ b/hwconf/hw_60v2_alva.c
@@ -88,11 +88,15 @@ void hw_init_gpio(void) {
 
 	CURRENT_FILTER_OFF();
 
-	// AUX pin
+	// AUX pins
 	AUX_OFF();
 	palSetPadMode(AUX_GPIO, AUX_PIN,
 			PAL_MODE_OUTPUT_PUSHPULL |
 			PAL_STM32_OSPEED_HIGHEST);
+	AUX2_OFF();
+	palSetPadMode(AUX2_GPIO, AUX2_PIN,
+			PAL_MODE_OUTPUT_PUSHPULL |
+			PAL_STM32_OSPEED_HIGHEST);
 
 	// Sensor port voltage
 	SENSOR_PORT_3V3();
diff --git a/hwconf/hw_60v2_alva.h b/hwconf/hw_60v2_alva.h
index 3a9d03f8..ece8cf08 100644
--- a/hwconf/hw_60v2_alva.h
+++ b/hwconf/hw_60v2_alva.h
@@ -55,6 +55,10 @@
 #define AUX_PIN					12
 #define AUX_ON()				palSetPad(AUX_GPIO, AUX_PIN)
 #define AUX_OFF()				palClearPad(AUX_GPIO, AUX_PIN)
+#define AUX2_GPIO				GPIOC
+#define AUX2_PIN				13
+#define AUX2_ON()				palSetPad(AUX2_GPIO, AUX2_PIN)
+#define AUX2_OFF()				palClearPad(AUX2_GPIO, AUX2_PIN)
 
 #define CURRENT_FILTER_GPIO		GPIOD
 #define CURRENT_FILTER_PIN		2
diff --git a/lispBM/lispif_vesc_extensions.c b/lispBM/lispif_vesc_extensions.c
index 91d1febf..de75188e 100644
--- a/lispBM/lispif_vesc_extensions.c
+++ b/lispBM/lispif_vesc_extensions.c
@@ -247,6 +247,30 @@ static lbm_value ext_secs_since(lbm_value *args, lbm_uint argn) {
 	return lbm_enc_F(UTILS_AGE_S(lbm_dec_as_u(args[0])));
 }
 
+static lbm_value ext_set_aux(lbm_value *args, lbm_uint argn) {
+	CHECK_ARGN_NUMBER(2);
+
+	int port = lbm_dec_as_u(args[0]);
+	bool on = lbm_dec_as_u(args[1]);
+	if (port == 1) {
+		if (on) {
+			AUX_ON();
+		} else {
+			AUX_OFF();
+		}
+		return lbm_enc_sym(SYM_TRUE);
+	} else if (port == 2) {
+		if (on) {
+			AUX2_ON();
+		} else {
+			AUX2_OFF();
+		}
+		return lbm_enc_sym(SYM_TRUE);
+	}
+
+	return lbm_enc_sym(SYM_EERROR);
+}
+
 // Motor set commands
 
 static lbm_value ext_set_current(lbm_value *args, lbm_uint argn) {
@@ -476,6 +500,7 @@ void lispif_load_vesc_extensions(void) {
 	lbm_add_extension("get-adc", ext_get_adc);
 	lbm_add_extension("systime", ext_systime);
 	lbm_add_extension("secs-since", ext_secs_since);
+	lbm_add_extension("set-aux", ext_set_aux);
 
 	// Motor set commands
 	lbm_add_extension("set-current", ext_set_current);
diff --git a/lispBM/tests/LispLoader.qml b/lispBM/tests/LispLoader.qml
index a1ef2df3..4ef5b7be 100644
--- a/lispBM/tests/LispLoader.qml
+++ b/lispBM/tests/LispLoader.qml
@@ -50,8 +50,9 @@ Item {
 //                    mLogReader.openLogFile("example_control_servo_from_encoder.lisp")
 //                    mLogReader.openLogFile("example_control_servo_from_duty.lisp")
 //                    mLogReader.openLogFile("example_print_bms_data.lisp")
-                    mLogReader.openLogFile("example_can_pos_follow.lisp")
+//                    mLogReader.openLogFile("example_can_pos_follow.lisp")
 //                    mLogReader.openLogFile("example_speed_test.lisp")
+                    mLogReader.openLogFile("example_aux.lisp")
 //
 //                    mLogReader.openLogFile("test_math.lisp")
                     
diff --git a/lispBM/tests/example_aux.lisp b/lispBM/tests/example_aux.lisp
new file mode 100644
index 00000000..ec52e69d
--- /dev/null
+++ b/lispBM/tests/example_aux.lisp
@@ -0,0 +1,17 @@
+(define set-auxtime (lambda (port state time)
+  (progn
+    (set-aux port state)
+    (define aux-now (list port state time))
+    (yield (* 1000 time))
+)))
+
+(let ((f (lambda ()
+  (progn
+    (set-auxtime 1 1 1500)
+    (set-auxtime 1 0 500)
+    (set-auxtime 2 1 1500)
+    (set-auxtime 2 0 500)
+    (yield 1000000)
+    (f)
+)))) (f))
+