diff --git a/dda.c b/dda.c
index 80e5816..0733c3e 100644
--- a/dda.c
+++ b/dda.c
@@ -314,56 +314,20 @@ void dda_start(DDA *dda) {
 	setTimer(dda->c >> 8);
 }
 
-/*
-	CAN STEP
-*/
-
-uint8_t	can_step(uint8_t min, uint8_t max, int32_t current, int32_t target, uint8_t dir) {
-	if (dir) {
-		// forwards/positive
-		if (max)
-			return 0;
-		if (current >= target)
-			return 0;
-	}
-	else {
-		// backwards/negative
-		if (min)
-			return 0;
-		if (target >= current)
-			return 0;
-	}
-
-	return 255;
-}
-
 /*
 	STEP
 */
 
 void dda_step(DDA *dda) {
 	// called from interrupt context! keep it as simple as possible
-	uint8_t	step_option = 0;
-#define	X_CAN_STEP	1
-#define	Y_CAN_STEP	2
-#define	Z_CAN_STEP	4
-#define	E_CAN_STEP	8
-#define	DID_STEP		128
+	uint8_t	did_step = 0;
 
-// 		step_option |= can_step(x_min(), x_max(), current_position.X, dda->endpoint.X, dda->x_direction) & X_CAN_STEP;
-	step_option |= can_step(0      , 0      , current_position.X, dda->endpoint.X, dda->x_direction) & X_CAN_STEP;
-// 		step_option |= can_step(y_min(), y_max(), current_position.Y, dda->endpoint.Y, dda->y_direction) & Y_CAN_STEP;
-	step_option |= can_step(0      , 0      , current_position.Y, dda->endpoint.Y, dda->y_direction) & Y_CAN_STEP;
-// 		step_option |= can_step(z_min(), z_max(), current_position.Z, dda->endpoint.Z, dda->z_direction) & Z_CAN_STEP;
-	step_option |= can_step(0      , 0      , current_position.Z, dda->endpoint.Z, dda->z_direction) & Z_CAN_STEP;
-	step_option |= can_step(0      , 0      , current_position.E, dda->endpoint.E, dda->e_direction) & E_CAN_STEP;
-// 	step_option |= can_step(0      , 0      , current_position.F, dda->endpoint.F, dda->f_direction) & F_CAN_STEP;
-
-	if (step_option & X_CAN_STEP) {
+	if (current_position.X != dda->endpoint.X /* &&
+	    x_max() != dda->x_direction && x_min() == dda->x_direction */) {
 		dda->x_counter -= dda->x_delta;
 		if (dda->x_counter < 0) {
 			x_step();
-			step_option |= DID_STEP;
+			did_step = 1;
 			if (dda->x_direction)
 				current_position.X++;
 			else
@@ -373,11 +337,12 @@ void dda_step(DDA *dda) {
 		}
 	}
 
-	if (step_option & Y_CAN_STEP) {
+	if (current_position.Y != dda->endpoint.Y /* &&
+	    y_max() != dda->y_direction && y_min() == dda->y_direction */) {
 		dda->y_counter -= dda->y_delta;
 		if (dda->y_counter < 0) {
 			y_step();
-			step_option |= DID_STEP;
+			did_step = 1;
 			if (dda->y_direction)
 				current_position.Y++;
 			else
@@ -387,11 +352,12 @@ void dda_step(DDA *dda) {
 		}
 	}
 
-	if (step_option & Z_CAN_STEP) {
+	if (current_position.Z != dda->endpoint.Z /* &&
+	    z_max() != dda->z_direction && z_min() == dda->z_direction */) {
 		dda->z_counter -= dda->z_delta;
 		if (dda->z_counter < 0) {
 			z_step();
-			step_option |= DID_STEP;
+			did_step = 1;
 			if (dda->z_direction)
 				current_position.Z++;
 			else
@@ -401,11 +367,11 @@ void dda_step(DDA *dda) {
 		}
 	}
 
-	if (step_option & E_CAN_STEP) {
+	if (current_position.E != dda->endpoint.E) {
 		dda->e_counter -= dda->e_delta;
 		if (dda->e_counter < 0) {
 			e_step();
-			step_option |= DID_STEP;
+			did_step = 1;
 			if (dda->e_direction)
 				current_position.E++;
 			else
@@ -440,7 +406,7 @@ void dda_step(DDA *dda) {
 		// else we are already at target speed
 	}
 
-	if (step_option) {
+	if (did_step) {
 		// we stepped, reset timeout
 		steptimeout = 0;