diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index 7d79b3d6..d560ae9d 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -81,8 +81,8 @@ void Axis::set_step_dir_enabled(bool enable) {
         HAL_GPIO_Init(hw_config_.dir_port, &GPIO_InitStruct);
 
         // Subscribe to rising edges of the step GPIO
-        GPIO_subscribe(hw_config_.step_port, hw_config_.step_pin, GPIO_PULLDOWN,
-                step_cb_wrapper, this);
+        GPIO_subscribe(hw_config_.step_port, hw_config_.step_pin, GPIO_PULLDOWN, 
+                       GPIO_MODE_IT_FALLING, step_cb_wrapper, this);
 
         enable_step_dir_ = true;
     } else {
diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index 5b80ed8d..0f2f838a 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -19,7 +19,7 @@ static void enc_index_cb_wrapper(void* ctx) {
 void Encoder::setup() {
     HAL_TIM_Encoder_Start(hw_config_.timer, TIM_CHANNEL_ALL);
     GPIO_subscribe(hw_config_.index_port, hw_config_.index_pin, GPIO_NOPULL,
-            enc_index_cb_wrapper, this);
+            GPIO_MODE_IT_RISING, enc_index_cb_wrapper, this);
 }
 
 void Encoder::set_error(Encoder::Error_t error) {