diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h
index 24be38f95..66202299e 100644
--- a/src/main/drivers/pwm_output.h
+++ b/src/main/drivers/pwm_output.h
@@ -86,6 +86,7 @@ typedef struct {
 #else
     uint8_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
 #endif
+    uint32_t dmaFlag;
 #if defined(STM32F7)
     TIM_HandleTypeDef TimHandle;
     DMA_HandleTypeDef hdma_tim;
diff --git a/src/main/drivers/pwm_output_stm32f4xx.c b/src/main/drivers/pwm_output_stm32f4xx.c
index 92926adde..09b0b001b 100644
--- a/src/main/drivers/pwm_output_stm32f4xx.c
+++ b/src/main/drivers/pwm_output_stm32f4xx.c
@@ -82,6 +82,7 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
         packet <<= 1;
     }
 
+    DMA_ClearITPendingBit(motor->timerHardware->dmaStream, motor->dmaFlag);
     DMA_SetCurrDataCounter(motor->timerHardware->dmaStream, MOTOR_DMA_BUFFER_SIZE);
     DMA_Cmd(motor->timerHardware->dmaStream, ENABLE);
 }
@@ -100,16 +101,6 @@ void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
     }
 }
 
-static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
-{
-    if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
-        motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
-        DMA_Cmd(descriptor->stream, DISABLE);
-        TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
-        DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
-    }
-}
-
 void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType)
 {
     TIM_OCInitTypeDef TIM_OCInitStructure;
@@ -176,7 +167,6 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     }
 
     dmaInit(timerHardware->dmaIrqHandler, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
-    dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
 
     DMA_Cmd(stream, DISABLE);
     DMA_DeInit(stream);
@@ -200,8 +190,8 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
 
     DMA_Init(stream, &DMA_InitStructure);
 
-    DMA_ITConfig(stream, DMA_IT_TC, ENABLE);
-    DMA_ClearITPendingBit(stream, dmaFlag_IT_TCIF(timerHardware->dmaStream));
+    motor->dmaFlag = dmaFlag_IT_TCIF(timerHardware->dmaStream);
+    DMA_ClearITPendingBit(stream, motor->dmaFlag);
 }
 
 #endif