diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py
index 1c1f73b99..c26196e66 100644
--- a/klippy/chelper/__init__.py
+++ b/klippy/chelper/__init__.py
@@ -46,8 +46,6 @@ defs_stepcompress = """
         , uint64_t clock, int64_t last_position);
     int64_t stepcompress_find_past_position(struct stepcompress *sc
         , uint64_t clock);
-    int stepcompress_queue_msg(struct stepcompress *sc
-        , uint32_t *data, int len);
     int stepcompress_extract_old(struct stepcompress *sc
         , struct pull_history_steps *p, int max
         , uint64_t start_clock, uint64_t end_clock);
diff --git a/klippy/chelper/stepcompress.c b/klippy/chelper/stepcompress.c
index 0f2c4ef74..141c8ac35 100644
--- a/klippy/chelper/stepcompress.c
+++ b/klippy/chelper/stepcompress.c
@@ -603,20 +603,6 @@ stepcompress_find_past_position(struct stepcompress *sc, uint64_t clock)
     return last_position;
 }
 
-// Queue an mcu command to go out in order with stepper commands
-int __visible
-stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len)
-{
-    int ret = stepcompress_flush(sc, UINT64_MAX);
-    if (ret)
-        return ret;
-
-    struct queue_message *qm = message_alloc_and_encode(data, len);
-    qm->req_clock = sc->last_step_clock;
-    list_add_tail(&qm->node, sc->msg_queue);
-    return 0;
-}
-
 // Return history of queue_step commands
 int __visible
 stepcompress_extract_old(struct stepcompress *sc, struct pull_history_steps *p
diff --git a/klippy/chelper/stepcompress.h b/klippy/chelper/stepcompress.h
index 91d1bc11d..affc1e23c 100644
--- a/klippy/chelper/stepcompress.h
+++ b/klippy/chelper/stepcompress.h
@@ -33,7 +33,6 @@ int stepcompress_set_last_position(struct stepcompress *sc, uint64_t clock
                                    , int64_t last_position);
 int64_t stepcompress_find_past_position(struct stepcompress *sc
                                         , uint64_t clock);
-int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len);
 int stepcompress_extract_old(struct stepcompress *sc
                              , struct pull_history_steps *p, int max
                              , uint64_t start_clock, uint64_t end_clock);
diff --git a/klippy/stepper.py b/klippy/stepper.py
index 3bcca565c..248e487d2 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -205,9 +205,7 @@ class MCU_stepper:
         if ret:
             raise error("Internal error in stepcompress")
         data = (self._reset_cmd_tag, self._oid, 0)
-        ret = ffi_lib.stepcompress_queue_msg(self._stepqueue, data, len(data))
-        if ret:
-            raise error("Internal error in stepcompress")
+        ffi_lib.syncemitter_queue_msg(self._syncemitter, 0, data, len(data))
         self._query_mcu_position()
     def _query_mcu_position(self):
         if self._mcu.is_fileoutput():