diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py
index 7cbbe806..a8448e72 100644
--- a/klippy/extras/manual_stepper.py
+++ b/klippy/extras/manual_stepper.py
@@ -25,7 +25,11 @@ class ManualStepper:
         ffi_main, ffi_lib = chelper.get_ffi()
         self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
         self.move_fill = ffi_lib.move_fill
+        self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
+        self.trapq_add_move = ffi_lib.trapq_add_move
+        self.trapq_free_moves = ffi_lib.trapq_free_moves
         self.stepper.setup_itersolve('cartesian_stepper_alloc', 'x')
+        self.stepper.set_trapq(self.trapq)
         self.stepper.set_max_jerk(9999999.9, 9999999.9)
         # Register commands
         stepper_name = config.get_name().split()[1]
@@ -58,8 +62,10 @@ class ManualStepper:
                        accel_t, cruise_t, accel_t,
                        cp, 0., 0., dist, 0., 0.,
                        0., cruise_v, accel)
-        self.stepper.step_itersolve(self.cmove)
+        self.trapq_add_move(self.trapq, self.cmove)
         self.next_cmd_time += accel_t + cruise_t + accel_t
+        self.stepper.generate_steps(self.next_cmd_time)
+        self.trapq_free_moves(self.trapq, self.next_cmd_time)
         self.sync_print_time()
     def do_homing_move(self, movepos, speed, accel, triggered):
         if not self.can_home:
@@ -107,13 +113,9 @@ class ManualStepper:
         accel = self.gcode.get_float('ACCEL', params, self.accel, minval=0.)
         if homing_move:
             movepos = self.gcode.get_float('MOVE', params)
-            if 'ENABLE' not in params and not self.stepper.is_motor_enabled():
-                self.do_enable(True)
             self.do_homing_move(movepos, speed, accel, homing_move > 0)
         elif 'MOVE' in params:
             movepos = self.gcode.get_float('MOVE', params)
-            if 'ENABLE' not in params and not self.stepper.is_motor_enabled():
-                self.do_enable(True)
             self.do_move(movepos, speed, accel)
     def handle_motor_off(self, print_time):
         self.do_enable(0)