diff --git a/src/StepperISR_esp32_mcpwm_pcnt.cpp b/src/StepperISR_esp32_mcpwm_pcnt.cpp
index e0910e5..cafc1a7 100644
--- a/src/StepperISR_esp32_mcpwm_pcnt.cpp
+++ b/src/StepperISR_esp32_mcpwm_pcnt.cpp
@@ -2,6 +2,8 @@
 
 #ifdef SUPPORT_ESP32_MCPWM_PCNT
 
+#include <hal/gpio_ll.h>
+
 #define DEFAULT_TIMER_H_L_TRANSITION 160
 
 // cannot be updated while timer is running => fix it to 0
@@ -120,7 +122,7 @@ static void IRAM_ATTR apply_command(StepperQueue *queue,
   uint8_t steps = e->steps;
   if (e->toggle_dir) {
     gpio_num_t dirPin = (gpio_num_t)queue->dirPin;
-    gpio_set_level(dirPin, gpio_get_level(dirPin) ^ 1);
+    gpio_ll_set_level(&GPIO, dirPin, gpio_ll_get_level(&GPIO, dirPin) ^ 1);
   }
   uint16_t ticks = e->ticks;
 #ifndef __ESP32_IDF_V44__
diff --git a/src/StepperISR_esp32_rmt.cpp b/src/StepperISR_esp32_rmt.cpp
index e2b4ca5..fe79b4d 100644
--- a/src/StepperISR_esp32_rmt.cpp
+++ b/src/StepperISR_esp32_rmt.cpp
@@ -5,6 +5,7 @@
 // #define TEST_MODE
 
 #include "test_probe.h"
+#include <hal/gpio_ll.h>
 
 // The following concept is in use:
 //
@@ -84,7 +85,7 @@ static void IRAM_ATTR apply_command(StepperQueue *q, bool fill_part_one,
     // The ongoing command does not contain steps, so change dir here should be
     // ok
     gpio_num_t dirPin = (gpio_num_t)q->dirPin;
-    gpio_set_level(dirPin, gpio_get_level(dirPin) ^ 1);
+    gpio_ll_set_level(&GPIO, dirPin, gpio_ll_get_level(&GPIO, dirPin) ^ 1);
     // and delete the request
     e_curr->toggle_dir = 0;
   }