diff --git a/Grbl_Esp32/src/i2s_out.cpp b/Grbl_Esp32/src/i2s_out.cpp
index 0ddbba61..a67a740c 100644
--- a/Grbl_Esp32/src/i2s_out.cpp
+++ b/Grbl_Esp32/src/i2s_out.cpp
@@ -101,8 +101,8 @@ static portMUX_TYPE i2s_out_spinlock = portMUX_INITIALIZER_UNLOCKED;
 static int i2s_out_initialized = 0;
 
 #    ifdef USE_I2S_OUT_STREAM
-static volatile uint32_t             i2s_out_pulse_period;
-static uint32_t                      i2s_out_remain_time_until_next_pulse;  // Time remaining until the next pulse (μsec)
+static volatile uint64_t             i2s_out_pulse_period;
+static uint64_t                      i2s_out_remain_time_until_next_pulse;  // Time remaining until the next pulse (μsec)
 static volatile i2s_out_pulse_func_t i2s_out_pulse_func;
 #    endif
 
@@ -339,10 +339,12 @@ static int IRAM_ATTR i2s_fillout_dma_buffer(lldesc_t* dma_desc) {
                 if (i2s_out_pulser_status == STEPPING) {
                     // fillout future DMA buffer (tail of the DMA buffer chains)
                     if (i2s_out_pulse_func != NULL) {
+                        uint32_t old_rw_pos = o_dma.rw_pos;
                         I2S_OUT_PULSER_EXIT_CRITICAL();   // Temporarily unlocked status lock as it may be locked in pulse callback.
                         (*i2s_out_pulse_func)();          // should be pushed into buffer max DMA_SAMPLE_SAFE_COUNT
                         I2S_OUT_PULSER_ENTER_CRITICAL();  // Lock again.
-                        i2s_out_remain_time_until_next_pulse = i2s_out_pulse_period;
+                        // Calculate pulse period. About magic number 2, refer to the st_wake_up(). (Ad hoc delay value)
+                        i2s_out_remain_time_until_next_pulse = i2s_out_pulse_period - I2S_OUT_USEC_PER_PULSE * (o_dma.rw_pos - old_rw_pos) + 2;
                         if (i2s_out_pulser_status == WAITING) {
                             // i2s_out_set_passthrough() has called from the pulse function.
                             // It needs to go into pass-through mode.
@@ -610,9 +612,10 @@ int IRAM_ATTR i2s_out_set_stepping() {
     return 0;
 }
 
-int IRAM_ATTR i2s_out_set_pulse_period(uint32_t period) {
+int IRAM_ATTR i2s_out_set_pulse_period(uint64_t period) {
 #    ifdef USE_I2S_OUT_STREAM
-    i2s_out_pulse_period = period;
+    // Use 64-bit values to avoid overflowing during the calculation.
+    i2s_out_pulse_period = period * 1000000 / F_STEPPER_TIMER;
 #    endif
     return 0;
 }
diff --git a/Grbl_Esp32/src/i2s_out.h b/Grbl_Esp32/src/i2s_out.h
index 5c1078ca..816dbfb0 100644
--- a/Grbl_Esp32/src/i2s_out.h
+++ b/Grbl_Esp32/src/i2s_out.h
@@ -164,10 +164,10 @@ int i2s_out_set_stepping();
 void i2s_out_delay();
 
 /*
-   Set the pulse callback period in microseconds
-   (like the timer period for the ISR)
+   Set the pulse callback period in ISR ticks.
+   (same value of the timer period for the ISR)
  */
-int i2s_out_set_pulse_period(uint32_t period);
+int i2s_out_set_pulse_period(uint64_t period);
 
 /*
    Register a callback function to generate pulse data
diff --git a/Grbl_Esp32/src/stepper.cpp b/Grbl_Esp32/src/stepper.cpp
index 96e1095d..843f1946 100644
--- a/Grbl_Esp32/src/stepper.cpp
+++ b/Grbl_Esp32/src/stepper.cpp
@@ -1176,7 +1176,7 @@ void IRAM_ATTR Stepper_Timer_WritePeriod(uint64_t alarm_val) {
 #ifdef USE_I2S_OUT_STREAM
     // 1 tick = F_TIMERS / F_STEPPER_TIMER
     // Pulse ISR is called for each tick of alarm_val.
-    i2s_out_set_pulse_period(alarm_val / 60);
+    i2s_out_set_pulse_period(alarm_val);
 #else
     timer_set_alarm_value(STEP_TIMER_GROUP, STEP_TIMER_INDEX, alarm_val);
 #endif