diff --git a/reference/speeduino.ini b/reference/speeduino.ini
index db4cb556..2126e5bf 100644
--- a/reference/speeduino.ini
+++ b/reference/speeduino.ini
@@ -1361,8 +1361,8 @@ menuDialog = main
         subMenu = iacClosedLoop_curve,  "Idle - RPM targets", 7, { iacAlgorithm == 3 || iacAlgorithm == 5 || idleAdvEnabled >= 1 }
         subMenu = iacPwm_curve,         "Idle - PWM Duty Cycle", 7, { iacAlgorithm == 2 }
         subMenu = iacPwmCrank_curve,    "Idle - PWM Cranking Duty Cycle", 7, { iacAlgorithm == 2 }
-        subMenu = iacStep_curve,        "Idle - Stepper Motor", 7, { iacAlgorithm == 4 }
-        subMenu = iacStepCrank_curve,   "Idle - Stepper Motor Cranking", 7, { iacAlgorithm == 4 }
+        subMenu = iacStep_curve,        "Idle - Stepper Motor", 7, { iacAlgorithm == 4  }
+        subMenu = iacStepCrank_curve,   "Idle - Stepper Motor Cranking", 7, { iacAlgorithm == 4 || iacAlgorithm == 5 }
         subMenu = std_separator
         subMenu = idleUpSettings,       "Idle Up Settings", { iacAlgorithm == 2 || iacAlgorithm == 3 || iacAlgorithm == 4 || iacAlgorithm == 5 }
         subMenu = std_separator
diff --git a/speeduino/idle.ino b/speeduino/idle.ino
index 21efeacb..8cb34e6a 100644
--- a/speeduino/idle.ino
+++ b/speeduino/idle.ino
@@ -321,6 +321,24 @@ void idleControl()
       //First thing to check is whether there is currently a step going on and if so, whether it needs to be turned off
       if( (checkForStepping() == false) && (isStepperHomed() == true) ) //Check that homing is complete and that there's not currently a step already taking place. MUST BE IN THIS ORDER!
       {
+          if( BIT_CHECK(currentStatus.engine, BIT_ENGINE_CRANK )/* ||currentStatus.rpmDOT>=500||currentStatus.rpmDOT<=-500*/)
+        {
+          //Currently cranking. Use the cranking table
+          idleStepper.targetIdleStep = table2D_getValue(&iacCrankStepsTable, (currentStatus.coolant + CALIBRATION_TEMPERATURE_OFFSET)) * 3; //All temps are offset by 40 degrees. Step counts are divided by 3 in TS. Multiply back out here
+          if(currentStatus.idleUpActive == true) { idleStepper.targetIdleStep += configPage2.idleUpAdder; } //Add Idle Up amount if active
+
+          //limit to the configured max steps. This must include any idle up adder, to prevent over-opening.
+          if (idleStepper.targetIdleStep > (configPage9.iacMaxSteps * 3) )
+          {
+            idleStepper.targetIdleStep = configPage9.iacMaxSteps * 3;
+          }
+          
+          doStep();
+         
+        }
+
+        else 
+        {
         if( (idleCounter & 31) == 1)
         {
           //This only needs to be run very infrequently, once every 32 calls to idleControl(). This is approx. once per second
@@ -342,9 +360,11 @@ void idleControl()
         }
 
         doStep();
-        currentStatus.idleLoad = idleStepper.curIdleStep / 2; //Current step count (Divided by 2 for byte)
+        
         idleCounter++;
       }
+     currentStatus.idleLoad = idleStepper.curIdleStep / 2; //Current step count (Divided by 2 for byte)
+      }
       //Set or clear the idle active flag
       if(idleStepper.targetIdleStep != idleStepper.curIdleStep) { BIT_SET(currentStatus.spark, BIT_SPARK_IDLE); }
       else { BIT_CLEAR(currentStatus.spark, BIT_SPARK_IDLE); }