diff --git a/.github/workflows/ci-workflow.yml b/.github/workflows/ci-workflow.yml
index 2bfbd0f12..fe8ec12b4 100644
--- a/.github/workflows/ci-workflow.yml
+++ b/.github/workflows/ci-workflow.yml
@@ -228,7 +228,7 @@ jobs:
     steps:
       - uses: numworks/setup-emscripten@master
         with:
-          sdk: 1.40.1
+          sdk: latest
       - uses: actions/checkout@v2
         with:
           submodules: 'recursive'
diff --git a/build/toolchain.emscripten.mak b/build/toolchain.emscripten.mak
index 14baf3a8f..24a125dbf 100644
--- a/build/toolchain.emscripten.mak
+++ b/build/toolchain.emscripten.mak
@@ -12,6 +12,8 @@ EMFLAGS += -s SAFE_HEAP=1
 EMFLAGS += -s STACK_OVERFLOW_CHECK=1
 EMFLAGS += -s DEMANGLE_SUPPORT=1
 EMFLAGS += -s MAIN_MODULE=1
+EMFLAGS += -g
+EMFLAGS += -O3
 else
 EMFLAGS += -s MAIN_MODULE=2
 endif
@@ -26,4 +28,4 @@ EMSCRIPTEN_MODULARIZE ?= 1
 LDFLAGS += -s MODULARIZE=$(EMSCRIPTEN_MODULARIZE) -s 'EXPORT_NAME="Epsilon"' --memory-init-file 0
 
 SFLAGS += $(EMFLAGS)
-LDFLAGS += $(EMFLAGS) -Oz -s EXPORTED_FUNCTIONS='["_main", "_IonSimulatorKeyboardKeyDown", "_IonSimulatorKeyboardKeyUp", "_IonSimulatorEventsPushEvent", "_IonSoftwareVersion", "_IonPatchLevel", "_IonDisplayForceRefresh"]' -s EXPORTED_RUNTIME_METHODS='["UTF8ToString"]'
+LDFLAGS += $(EMFLAGS) -Oz -s EXPORTED_RUNTIME_METHODS='["UTF8ToString"]'
diff --git a/ion/src/simulator/external/config.web.mak b/ion/src/simulator/external/config.web.mak
index 003fcf839..0821a80a3 100644
--- a/ion/src/simulator/external/config.web.mak
+++ b/ion/src/simulator/external/config.web.mak
@@ -36,3 +36,6 @@ sdl_src += $(addprefix ion/src/simulator/external/sdl/src/, \
   video/emscripten/SDL_emscriptenopengles.c \
   video/emscripten/SDL_emscriptenvideo.c \
 )
+
+# Add SDL_JOYSTICK_EMSCRIPTEN flag
+SDL_SFLAGS += -DSDL_JOYSTICK_EMSCRIPTEN
diff --git a/ion/src/simulator/external/sdl/src/joystick/emscripten/SDL_sysjoystick.c b/ion/src/simulator/external/sdl/src/joystick/emscripten/SDL_sysjoystick.c
index 92b831a05..83eb3c65d 100644
--- a/ion/src/simulator/external/sdl/src/joystick/emscripten/SDL_sysjoystick.c
+++ b/ion/src/simulator/external/sdl/src/joystick/emscripten/SDL_sysjoystick.c
@@ -415,6 +415,23 @@ SDL_JoystickDriver SDL_EMSCRIPTEN_JoystickDriver =
     EMSCRIPTEN_JoystickQuit,
 };
 
+// Alias SDL_DUMMY_JoystickDriver to SDL_EMSCRIPTEN_JoystickDriver
+SDL_JoystickDriver SDL_DUMMY_JoystickDriver =
+{
+    EMSCRIPTEN_JoystickInit,
+    EMSCRIPTEN_JoystickGetCount,
+    EMSCRIPTEN_JoystickDetect,
+    EMSCRIPTEN_JoystickGetDeviceName,
+    EMSCRIPTEN_JoystickGetDevicePlayerIndex,
+    EMSCRIPTEN_JoystickGetDeviceGUID,
+    EMSCRIPTEN_JoystickGetDeviceInstanceID,
+    EMSCRIPTEN_JoystickOpen,
+    EMSCRIPTEN_JoystickRumble,
+    EMSCRIPTEN_JoystickUpdate,
+    EMSCRIPTEN_JoystickClose,
+    EMSCRIPTEN_JoystickQuit,
+};
+
 #endif /* SDL_JOYSTICK_EMSCRIPTEN */
 
 /* vi: set ts=4 sw=4 expandtab: */
diff --git a/python/port/genhdr/qstrdefs.in.h b/python/port/genhdr/qstrdefs.in.h
index 3fae92b55..78cfdb182 100644
--- a/python/port/genhdr/qstrdefs.in.h
+++ b/python/port/genhdr/qstrdefs.in.h
@@ -279,6 +279,8 @@ Q(popitem)
 Q(pow)
 Q(print)
 Q(property)
+Q(pystack_space_exhausted)
+Q(pystack_use)
 Q(radians)
 Q(randint)
 Q(random)
diff --git a/python/port/mpconfigport.h b/python/port/mpconfigport.h
index 9040132fe..0e6716d08 100644
--- a/python/port/mpconfigport.h
+++ b/python/port/mpconfigport.h
@@ -8,6 +8,7 @@
 /* MicroPython configuration options
  * We're not listing the default options as defined in mpconfig.h */
 
+#if __EMSCRIPTEN__
 // Enable a PyStack where most objects are allocated instead of always using the heap
 /* This enables to allocate and free memory in a scope (thus, Python can call
  * Python) but also has the collateral effect of removing bugs regarding
@@ -17,7 +18,10 @@
  * collecting roots the transpiled C code is denied access to Javascript
  * variables that can store pointers to the Python heap. The pointed objects
  * are therefore erased prematurely. */
+#define MICROPY_ENABLE_PYSTACK (1)
+#else
 #define MICROPY_ENABLE_PYSTACK (0)
+#endif
 
 // Whether to encode None/False/True as immediate objects instead of pointers to
 // real objects.  Reduces code size by a decent amount without hurting
diff --git a/python/port/port.cpp b/python/port/port.cpp
index e86a6ef22..67c57ef3f 100644
--- a/python/port/port.cpp
+++ b/python/port/port.cpp
@@ -10,6 +10,7 @@
 #ifdef __EMSCRIPTEN__
 #include <emscripten.h>
 
+__attribute__((noinline))
 void python_error_start(const char* type) {
   EM_ASM({
     Module.___temp_python_error = new Object();
@@ -18,6 +19,7 @@ void python_error_start(const char* type) {
   }, type);
 }
 
+__attribute__((noinline))
 void python_error_add_trace(const char* file, int line, const char* block) {
   EM_ASM({
     var temp_obj = new Object();
@@ -28,10 +30,11 @@ void python_error_add_trace(const char* file, int line, const char* block) {
   }, file, line, block);
 }
 
+__attribute__((noinline))
 void python_error_end() {
   EM_ASM({
     if (typeof Module.onPythonError === "function") {
-      Module.onPythonError(Module.___temp_python_error); 
+      Module.onPythonError(Module.___temp_python_error);
     }
     delete Module.___temp_python_error;
   });
@@ -55,6 +58,7 @@ extern "C" {
 #include "py/mphal.h"
 #include "py/nlr.h"
 #include "py/parsenum.h"
+#include "py/pystack.h"
 #include "py/repl.h"
 #include "py/runtime.h"
 #include "py/stackctrl.h"
@@ -163,6 +167,10 @@ extern "C" {
 }
 
 void MicroPython::init(void * heapStart, void * heapEnd) {
+#if __EMSCRIPTEN__
+  static mp_obj_t pystack[1024];
+  mp_pystack_init(pystack, &pystack[MP_ARRAY_SIZE(pystack)]);
+#endif
   /* We delimit the stack part that will be used by Python. The stackTop is the
    * address of the first object that can be allocated on Python stack. This
    * boundaries are used: