diff --git a/Grbl_Esp32/src/Stepper.cpp b/Grbl_Esp32/src/Stepper.cpp
index 6c7f8c2f..6f67cd51 100644
--- a/Grbl_Esp32/src/Stepper.cpp
+++ b/Grbl_Esp32/src/Stepper.cpp
@@ -68,10 +68,9 @@ typedef struct {
 
     uint32_t counter[MAX_N_AXIS];  // Counter variables for the bresenham line tracer
 
-    uint8_t  step_bits;        // Stores out_bits output to complete the step pulse delay
-    uint8_t  execute_step;     // Flags step execution for each interrupt.
-    uint8_t  step_pulse_time;  // Step pulse reset time after step rise
-    uint8_t  step_outbits;     // The next stepping-bits to be output
+    uint8_t  step_bits;     // Stores out_bits output to complete the step pulse delay
+    uint8_t  execute_step;  // Flags step execution for each interrupt.
+    uint8_t  step_outbits;  // The next stepping-bits to be output
     uint8_t  dir_outbits;
     uint32_t steps[MAX_N_AXIS];
 
@@ -366,14 +365,6 @@ void stepper_init() {
                 config->_disableDelayMicroSeconds,
                 config->_directionDelayMicroSeconds);
 
-    switch (config->_stepType) {
-        case ST_I2S_STREAM:
-        case ST_I2S_STATIC:
-            // I2S stepper stream mode use callback but timer interrupt
-            i2s_out_set_pulse_callback(stepper_pulse_func);
-            break;
-    }
-
     // Other stepper use timer interrupt
     Stepper_Timer_Init();
 }
@@ -404,13 +395,6 @@ void st_wake_up() {
     config->_axes->set_disable(false);
     stepper_idle = false;
 
-    // Initialize step pulse timing from settings. Here to ensure updating after re-writing.
-    // Step pulse delay handling is not require with ESP32 RMT...the RMT function does it.
-    if (config->_stepType != ST_RMT || config->_directionDelayMicroSeconds < 1) {
-        // Set step pulse time. Ad hoc computation from oscilloscope. Uses two's complement.
-        st.step_pulse_time = -(((config->_pulseMicroSeconds - 2) * ticksPerMicrosecond) >> 3);
-    } 
-
     // Enable Stepper Driver Interrupt
     Stepper_Timer_Start();
 }
@@ -947,7 +931,15 @@ static void IRAM_ATTR Stepper_Timer_WritePeriod(uint16_t timerTicks) {
 static void IRAM_ATTR Stepper_Timer_Init() {
     const bool isEdge  = false;
     const bool countUp = true;
-    stepTimer          = timerBegin(stepTimerNumber, fTimers / fStepperTimer, countUp);
+
+    // Prepare stepping interrupt callbacks.  The one that is actually
+    // used is determined by Stepper_Timer_Start() and _Stop()
+
+    // Register stepper_pulse_func with the I2S subsystem
+    i2s_out_set_pulse_callback(stepper_pulse_func);
+
+    // Setup a timer for direct stepping
+    stepTimer = timerBegin(stepTimerNumber, fTimers / fStepperTimer, countUp);
     timerAttachInterrupt(stepTimer, onStepperDriverTimer, isEdge);
 }