diff --git a/Grbl_Esp32/data/config.yaml b/Grbl_Esp32/data/config.yaml
index 126ecceb..a1e7f03d 100644
--- a/Grbl_Esp32/data/config.yaml
+++ b/Grbl_Esp32/data/config.yaml
@@ -3,12 +3,17 @@ board: "ESP32 Dev Controller V4"
 yaml_wiki: "https://github.com/bdring/Grbl_Esp32/wiki/YAML-Config-File"
 
 idle_time: 250
-step_type: rmt
+step_type: I2S_static
 dir_delay_microseconds: 1
 pulse_microseconds: 2
 disable_delay_us: 0
 homing_init_lock: false
 
+i2so:
+  bck: gpio.22
+  ws: gpio.17
+  data: gpio.21
+
 axes:
   number_axis: 3
   shared_stepper_disable: gpio.13:low
@@ -22,10 +27,12 @@ axes:
     
     gang0:
       endstops:
-        dual: gpio.17:low:pu
+        dual: gpio.33:low:pu
       stepstick:
-        direction: gpio:14
-        step: gpio.12
+        disable: i2so.0
+        direction: i2so.1
+        step: i2so.2
+        ms3: i2so.3
     gang1:
       null_motor:
 
@@ -38,10 +45,12 @@ axes:
 
     gang0:
       endstops:
-        dual: gpio.4:high:pd
+        dual: gpio.32:low:pu
       stepstick:
-        direction: gpio:15
-        step: gpio.26
+        disable: i2so.7
+        direction: i2so.4
+        step: i2so.5
+        ms3: i2so.6
     gang1:
       null_motor:
 
@@ -54,17 +63,19 @@ axes:
 
     gang0:
       endstops:
-        dual: gpio.16:pu:low
+        dual: gpio.34:low:pu
       stepstick:
-        direction: gpio:33
-        step: gpio.27
+        disable: i2so.8
+        direction: i2so.9
+        step: i2so.10
+        ms3: i2so.11
     gang1:
       null_motor:
 
 
 coolant:
-  flood: gpio.25:low
-  mist:  gpio.21
+  flood: i2so.25
+  mist:  i2so.24
 
 comms:
     wifi_sta:
@@ -75,4 +86,4 @@ comms:
         ssid: ScratchThat
         
 probe:
-    pin: gpio.32:high:pu
+    pin: gpio.32:low:pu
diff --git a/Grbl_Esp32/src/Machines/test_drive.h b/Grbl_Esp32/src/Machines/test_drive.h
index b4cd9101..adf92dcf 100644
--- a/Grbl_Esp32/src/Machines/test_drive.h
+++ b/Grbl_Esp32/src/Machines/test_drive.h
@@ -36,3 +36,5 @@
 */
 
 #define MACHINE_NAME "Test Drive - Demo Only No I/O!"
+
+#define USE_I2S_STEPS
\ No newline at end of file
diff --git a/Grbl_Esp32/src/MotionControl.cpp b/Grbl_Esp32/src/MotionControl.cpp
index 04238ffd..5a1a1b0f 100644
--- a/Grbl_Esp32/src/MotionControl.cpp
+++ b/Grbl_Esp32/src/MotionControl.cpp
@@ -430,7 +430,7 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
     }
 
 #ifdef USE_I2S_STEPS
-    stepper_id_t save_stepper = config->_stepType; /* remember the stepper */
+    int save_stepper = config->_stepType; /* remember the stepper */
 #endif
     // Switch stepper mode to the I2S static (realtime mode)
     BACKUP_STEPPER(save_stepper);
diff --git a/Grbl_Esp32/src/ProcessSettings.cpp b/Grbl_Esp32/src/ProcessSettings.cpp
index 08c7305f..5231a8f8 100644
--- a/Grbl_Esp32/src/ProcessSettings.cpp
+++ b/Grbl_Esp32/src/ProcessSettings.cpp
@@ -247,7 +247,7 @@ Error home(int cycle) {
     sys.state = State::Homing;  // Set system state variable
 
 #ifdef USE_I2S_STEPS
-    stepper_id_t save_stepper = config->_stepType;
+    int save_stepper = config->_stepType;
     if (save_stepper == ST_I2S_STREAM) {
         stepper_switch(ST_I2S_STATIC);
     }
diff --git a/Grbl_Esp32/src/Stepper.h b/Grbl_Esp32/src/Stepper.h
index 4f69424a..a2344be9 100644
--- a/Grbl_Esp32/src/Stepper.h
+++ b/Grbl_Esp32/src/Stepper.h
@@ -31,8 +31,8 @@
 enum stepper_id_t {
     ST_TIMED = 0,
     ST_RMT,
-    ST_I2S_STREAM,
     ST_I2S_STATIC,
+    ST_I2S_STREAM,    
 };
 
 // esp32 work around for diable in main loop