diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py
index 1d980a77..2c8f78f3 100644
--- a/klippy/chelper/__init__.py
+++ b/klippy/chelper/__init__.py
@@ -44,7 +44,6 @@ defs_stepcompress = """
 """
 
 defs_itersolve = """
-    int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
     int32_t itersolve_generate_steps(struct stepper_kinematics *sk
         , double flush_time);
     double itersolve_check_active(struct stepper_kinematics *sk
diff --git a/klippy/chelper/itersolve.c b/klippy/chelper/itersolve.c
index c84d25cc..eeb107ab 100644
--- a/klippy/chelper/itersolve.c
+++ b/klippy/chelper/itersolve.c
@@ -8,7 +8,7 @@
 #include <stddef.h> // offsetof
 #include <string.h> // memset
 #include "compiler.h" // __visible
-#include "itersolve.h" // itersolve_gen_steps
+#include "itersolve.h" // itersolve_generate_steps
 #include "pyhelper.h" // errorf
 #include "stepcompress.h" // queue_append_start
 #include "trapq.h" // struct move
@@ -128,14 +128,6 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m
     return 0;
 }
 
-// Generate step times for a move
-int32_t __visible
-itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m)
-{
-    return itersolve_gen_steps_range(sk, m, m->print_time
-                                     , m->print_time + m->move_t);
-}
-
 // Check if a move is likely to cause movement on a stepper
 static inline int
 check_active(struct stepper_kinematics *sk, struct move *m)
diff --git a/klippy/chelper/itersolve.h b/klippy/chelper/itersolve.h
index e7548849..9f622424 100644
--- a/klippy/chelper/itersolve.h
+++ b/klippy/chelper/itersolve.h
@@ -24,7 +24,6 @@ struct stepper_kinematics {
     sk_post_callback post_cb;
 };
 
-int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
 int32_t itersolve_generate_steps(struct stepper_kinematics *sk
                                  , double flush_time);
 double itersolve_check_active(struct stepper_kinematics *sk, double flush_time);
diff --git a/klippy/mcu.py b/klippy/mcu.py
index e81e7eb4..dda02598 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -27,7 +27,6 @@ class MCU_stepper:
                                       self._ffi_lib.stepcompress_free)
         self._mcu.register_stepqueue(self._stepqueue)
         self._stepper_kinematics = None
-        self._itersolve_gen_steps = self._ffi_lib.itersolve_gen_steps
         self._itersolve_generate_steps = self._ffi_lib.itersolve_generate_steps
         self._itersolve_check_active = self._ffi_lib.itersolve_check_active
         self._trapq = ffi_main.NULL
@@ -116,10 +115,6 @@ class MCU_stepper:
             mcu_pos_dist = -mcu_pos_dist
         self._ffi_lib.itersolve_set_commanded_pos(
             self._stepper_kinematics, mcu_pos_dist - self._mcu_position_offset)
-    def step_itersolve(self, cmove):
-        ret = self._itersolve_gen_steps(self._stepper_kinematics, cmove)
-        if ret:
-            raise error("Internal error in stepcompress")
     def set_trapq(self, tq):
         if tq is None:
             ffi_main, self._ffi_lib = chelper.get_ffi()
diff --git a/klippy/stepper.py b/klippy/stepper.py
index 00361697..5c72649e 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -76,7 +76,6 @@ class PrinterStepper:
         force_move = printer.try_load_module(config, 'force_move')
         force_move.register_stepper(self)
         # Wrappers
-        self.step_itersolve = mcu_stepper.step_itersolve
         self.setup_itersolve = mcu_stepper.setup_itersolve
         self.generate_steps = mcu_stepper.generate_steps
         self.set_trapq = mcu_stepper.set_trapq
@@ -133,7 +132,6 @@ class PrinterRail:
         stepper = PrinterStepper(config)
         self.steppers = [stepper]
         self.name = stepper.get_name(short=True)
-        self.step_itersolve = stepper.step_itersolve
         self.get_commanded_position = stepper.get_commanded_position
         self.is_motor_enabled = stepper.is_motor_enabled
         # Primary endstop and its position
@@ -199,7 +197,6 @@ class PrinterRail:
     def add_extra_stepper(self, config):
         stepper = PrinterStepper(config)
         self.steppers.append(stepper)
-        self.step_itersolve = self.step_multi_itersolve
         mcu_endstop = self.endstops[0][0]
         endstop_pin = config.get('endstop_pin', None)
         if endstop_pin is not None:
@@ -214,9 +211,6 @@ class PrinterRail:
     def add_to_endstop(self, mcu_endstop):
         for stepper in self.steppers:
             stepper.add_to_endstop(mcu_endstop)
-    def step_multi_itersolve(self, cmove):
-        for stepper in self.steppers:
-            stepper.step_itersolve(cmove)
     def setup_itersolve(self, alloc_func, *params):
         for stepper in self.steppers:
             stepper.setup_itersolve(alloc_func, *params)