diff --git a/dda.c b/dda.c
index 2303eab..a3b8aab 100644
--- a/dda.c
+++ b/dda.c
@@ -482,36 +482,78 @@ void dda_start(DDA *dda) {
 	Finally we de-assert any asserted step pins.
 */
 void dda_step(DDA *dda) {
-  enum axis_e i;
-  char to_step_flags = 0;
 
-  #if ! defined ACCELERATION_TEMPORAL
-    for (i = X; i < AXIS_COUNT; i++) {
-      if (move_state.steps[i]) {
-        move_state.counter[i] -= dda->delta[i];
-        if (move_state.counter[i] < 0) {
-          to_step_flags |= (0x01 << i);
-          move_state.steps[i]--;
-          move_state.counter[i] += dda->total_steps;
-        }
-      }
-    }
-  #else // ACCELERATION_TEMPORAL
-    i = dda->axis_to_step;
-    to_step_flags |= (0x01 << i);
-    move_state.steps[i]--;
-    move_state.time[i] += dda->step_interval[i];
-    move_state.all_time = move_state.time[i];
-  #endif
+#if ! defined ACCELERATION_TEMPORAL
+  if (move_state.steps[X]) {
+    move_state.counter[X] -= dda->delta[X];
+    if (move_state.counter[X] < 0) {
+			x_step();
+      move_state.steps[X]--;
+      move_state.counter[X] += dda->total_steps;
+		}
+	}
+#else	// ACCELERATION_TEMPORAL
+	if (dda->axis_to_step == X) {
+		x_step();
+    move_state.steps[X]--;
+    move_state.time[X] += dda->step_interval[X];
+    move_state.all_time = move_state.time[X];
+	}
+#endif
 
-  if (to_step_flags & (0x01 << X))
-    x_step();
-  if (to_step_flags & (0x01 << Y))
-    y_step();
-  if (to_step_flags & (0x01 << Z))
-    z_step();
-  if (to_step_flags & (0x01 << E))
-    e_step();
+#if ! defined ACCELERATION_TEMPORAL
+  if (move_state.steps[Y]) {
+    move_state.counter[Y] -= dda->delta[Y];
+    if (move_state.counter[Y] < 0) {
+			y_step();
+      move_state.steps[Y]--;
+      move_state.counter[Y] += dda->total_steps;
+		}
+	}
+#else	// ACCELERATION_TEMPORAL
+	if (dda->axis_to_step == Y) {
+		y_step();
+    move_state.steps[Y]--;
+    move_state.time[Y] += dda->step_interval[Y];
+    move_state.all_time = move_state.time[Y];
+	}
+#endif
+
+#if ! defined ACCELERATION_TEMPORAL
+  if (move_state.steps[Z]) {
+    move_state.counter[Z] -= dda->delta[Z];
+    if (move_state.counter[Z] < 0) {
+			z_step();
+      move_state.steps[Z]--;
+      move_state.counter[Z] += dda->total_steps;
+		}
+	}
+#else	// ACCELERATION_TEMPORAL
+	if (dda->axis_to_step == Z) {
+		z_step();
+    move_state.steps[Z]--;
+    move_state.time[Z] += dda->step_interval[Z];
+    move_state.all_time = move_state.time[Z];
+	}
+#endif
+
+#if ! defined ACCELERATION_TEMPORAL
+  if (move_state.steps[E]) {
+    move_state.counter[E] -= dda->delta[E];
+    if (move_state.counter[E] < 0) {
+			e_step();
+      move_state.steps[E]--;
+      move_state.counter[E] += dda->total_steps;
+		}
+	}
+#else	// ACCELERATION_TEMPORAL
+	if (dda->axis_to_step == E) {
+		e_step();
+    move_state.steps[E]--;
+    move_state.time[E] += dda->step_interval[E];
+    move_state.all_time = move_state.time[E];
+	}
+#endif
 
 	#if STEP_INTERRUPT_INTERRUPTIBLE && ! defined ACCELERATION_RAMPING
 		// Since we have sent steps to all the motors that will be stepping