diff --git a/dda.c b/dda.c
index 57a026e..07e6471 100644
--- a/dda.c
+++ b/dda.c
@@ -354,6 +354,8 @@ void dda_start(DDA *dda) {
 		psu_timeout = 0;
 		if (dda->z_delta)
 			z_enable();
+		if (dda->endstop_check)
+			endstops_on();
 
 		// set direction outputs
 		x_direction(dda->x_direction);
@@ -636,6 +638,7 @@ void dda_step(DDA *dda) {
 	// TODO: If we stop axes individually, could we home two or more axes at the same time?
 	if (dda->endstop_check != 0x0 && endstop_not_done == 0x0) {
 		move_state.x_steps = move_state.y_steps = move_state.z_steps = move_state.e_steps = 0;
+		endstops_off();
 		// as we stop without ramping down, we have to re-init our ramping here
 		dda_init();
 	}
diff --git a/gcode_process.c b/gcode_process.c
index 0400bba..b8dd74f 100644
--- a/gcode_process.c
+++ b/gcode_process.c
@@ -724,6 +724,8 @@ void process_gcode_command() {
 				//? --- M200: report endstop status ---
 				//? Report the current status of the endstops configured in the firmware to the host.
 				power_on();
+				endstops_on();
+				delay_ms(10); // allow the signal to stabilize
 				#if defined(X_MIN_PIN)
 					sersendf_P(PSTR("x_min:%d "), x_min());
 				#endif
@@ -745,6 +747,7 @@ void process_gcode_command() {
 				#if !(defined(X_MIN_PIN) || defined(X_MAX_PIN) || defined(Y_MIN_PIN) || defined(Y_MAX_PIN) || defined(Z_MIN_PIN) || defined(Z_MAX_PIN))
 					sersendf_P(PSTR("no endstops defined"));
 				#endif
+				endstops_off();
 				break;
 
 			#ifdef	DEBUG
diff --git a/mendel.c b/mendel.c
index bbf6be6..cf2c1a1 100644
--- a/mendel.c
+++ b/mendel.c
@@ -72,19 +72,11 @@ void io_init(void) {
 	WRITE(X_DIR_PIN,  0);	SET_OUTPUT(X_DIR_PIN);
 	#ifdef X_MIN_PIN
 		SET_INPUT(X_MIN_PIN);
-		#ifdef USE_INTERNAL_PULLUPS
-			WRITE(X_MIN_PIN, 1);
-		#else
-			WRITE(X_MIN_PIN, 0);
-		#endif
+		WRITE(X_MIN_PIN, 0); // pullup resistors off
 	#endif
 	#ifdef X_MAX_PIN
 		SET_INPUT(X_MAX_PIN);
-		#ifdef USE_INTERNAL_PULLUPS
-			WRITE(X_MAX_PIN, 1);
-		#else
-			WRITE(X_MAX_PIN, 0);
-		#endif
+		WRITE(X_MAX_PIN, 0); // pullup resistors off
 	#endif
 
 	// Y Stepper
@@ -92,19 +84,11 @@ void io_init(void) {
 	WRITE(Y_DIR_PIN,  0);	SET_OUTPUT(Y_DIR_PIN);
 	#ifdef Y_MIN_PIN
 		SET_INPUT(Y_MIN_PIN);
-		#ifdef USE_INTERNAL_PULLUPS
-			WRITE(Y_MIN_PIN, 1);
-		#else
-			WRITE(Y_MIN_PIN, 0);
-		#endif
+		WRITE(Y_MIN_PIN, 0); // pullup resistors off
 	#endif
 	#ifdef Y_MAX_PIN
 		SET_INPUT(Y_MAX_PIN);
-		#ifdef USE_INTERNAL_PULLUPS
-			WRITE(Y_MAX_PIN, 1);
-		#else
-			WRITE(Y_MAX_PIN, 0);
-		#endif
+		WRITE(Y_MAX_PIN, 0); // pullup resistors off
 	#endif
 
 	// Z Stepper
@@ -114,19 +98,11 @@ void io_init(void) {
 	#endif
 	#ifdef Z_MIN_PIN
 		SET_INPUT(Z_MIN_PIN);
-		#ifdef USE_INTERNAL_PULLUPS
-			WRITE(Z_MIN_PIN, 1);
-		#else
-			WRITE(Z_MIN_PIN, 0);
-		#endif
+		WRITE(Z_MIN_PIN, 0); // pullup resistors off
 	#endif
 	#ifdef Z_MAX_PIN
 		SET_INPUT(Z_MAX_PIN);
-		#ifdef USE_INTERNAL_PULLUPS
-			WRITE(Z_MAX_PIN, 1);
-		#else
-			WRITE(Z_MAX_PIN, 0);
-		#endif
+		WRITE(Z_MAX_PIN, 0); // pullup resistors off
 	#endif
 
 	#if defined E_STEP_PIN && defined E_DIR_PIN
diff --git a/pinio.h b/pinio.h
index d5cc9aa..c1774be 100644
--- a/pinio.h
+++ b/pinio.h
@@ -211,4 +211,56 @@ Stepper Enable Pins
 	#define	e_disable()					do { } while (0)
 #endif
 
+/*
+Internal pullup resistors for endstops
+*/
+static void endstops_on(void) __attribute__ ((always_inline));
+inline void endstops_on(void) {
+	#ifdef USE_INTERNAL_PULLUPS
+		#ifdef X_MIN_PIN
+			WRITE(X_MIN_PIN, 1);
+		#endif
+		#ifdef X_MAX_PIN
+			WRITE(X_MAX_PIN, 1);
+		#endif
+		#ifdef Y_MIN_PIN
+			WRITE(Y_MIN_PIN, 1);
+		#endif
+		#ifdef Y_MAX_PIN
+			WRITE(Y_MAX_PIN, 1);
+		#endif
+		#ifdef Z_MIN_PIN
+			WRITE(Z_MIN_PIN, 1);
+		#endif
+		#ifdef Z_MAX_PIN
+			WRITE(Z_MAX_PIN, 1);
+		#endif
+	#endif
+}
+
+static void endstops_off(void) __attribute__ ((always_inline));
+inline void endstops_off(void) {
+	#ifdef USE_INTERNAL_PULLUPS
+		#ifdef X_MIN_PIN
+			WRITE(X_MIN_PIN, 0);
+		#endif
+		#ifdef X_MAX_PIN
+			WRITE(X_MAX_PIN, 0);
+		#endif
+		#ifdef Y_MIN_PIN
+			WRITE(Y_MIN_PIN, 0);
+		#endif
+		#ifdef Y_MAX_PIN
+			WRITE(Y_MAX_PIN, 0);
+		#endif
+		#ifdef Z_MIN_PIN
+			WRITE(Z_MIN_PIN, 0);
+		#endif
+		#ifdef Z_MAX_PIN
+			WRITE(Z_MAX_PIN, 0);
+		#endif
+	#endif
+}
+
+
 #endif	/* _PINIO_H */