diff --git a/config.default.h b/config.default.h
index 69458b4..0fd13ad 100644
--- a/config.default.h
+++ b/config.default.h
@@ -426,6 +426,12 @@ PWM value for 'off'
 /// this is the scaling of internally stored PID values. 1024L is a good value
 #define	PID_SCALE						1024L
 
+/** \def ENDSTOP_STEPS
+	number of steps to run into the endstops intentionally
+		As Endstops trigger false alarm sometimes, Teacup debounces them by counting a number of consecutive positives. Valid range is 1...255. Use 4 or less for reliable endstops, 8 or even more for flaky ones.
+*/
+#define	ENDSTOP_STEPS	4
+
 
 
 /***************************************************************************\
diff --git a/config.gen3.h b/config.gen3.h
index 93c6cf7..6f77cb1 100644
--- a/config.gen3.h
+++ b/config.gen3.h
@@ -437,6 +437,12 @@ DEFINE_TEMP_SENSOR(bed,			TT_INTERCOM,	1,		0)
 /// this is the scaling of internally stored PID values. 1024L is a good value
 #define	PID_SCALE						1024L
 
+/** \def ENDSTOP_STEPS
+	number of steps to run into the endstops intentionally
+		As Endstops trigger false alarm sometimes, Teacup debounces them by counting a number of consecutive positives. Valid range is 1...255. Use 4 or less for reliable endstops, 8 or even more for flaky ones.
+*/
+#define	ENDSTOP_STEPS	4
+
 
 
 /***************************************************************************\
diff --git a/config.gen6.h b/config.gen6.h
index 57c6062..d3a46ba 100644
--- a/config.gen6.h
+++ b/config.gen6.h
@@ -419,6 +419,12 @@ PWM value for 'off'
 // this is the scaling of internally stored PID values. 1024L is a good value
 #define	PID_SCALE						1024L
 
+/** \def ENDSTOP_STEPS
+	number of steps to run into the endstops intentionally
+		As Endstops trigger false alarm sometimes, Teacup debounces them by counting a number of consecutive positives. Valid range is 1...255. Use 4 or less for reliable endstops, 8 or even more for flaky ones.
+*/
+#define	ENDSTOP_STEPS	4
+
 
 
 /***************************************************************************\
diff --git a/config.gen7.h b/config.gen7.h
index 83998f5..28a8b0f 100644
--- a/config.gen7.h
+++ b/config.gen7.h
@@ -432,6 +432,12 @@ PWM value for 'off'
 /// this is the scaling of internally stored PID values. 1024L is a good value
 #define	PID_SCALE						1024L
 
+/** \def ENDSTOP_STEPS
+	number of steps to run into the endstops intentionally
+		As Endstops trigger false alarm sometimes, Teacup debounces them by counting a number of consecutive positives. Valid range is 1...255. Use 4 or less for reliable endstops, 8 or even more for flaky ones.
+*/
+#define	ENDSTOP_STEPS	4
+
 
 
 /***************************************************************************\
diff --git a/config.ramps-v1.2.h b/config.ramps-v1.2.h
index 99473db..9f29d60 100644
--- a/config.ramps-v1.2.h
+++ b/config.ramps-v1.2.h
@@ -430,6 +430,12 @@ PWM value for 'off'
 /// this is the scaling of internally stored PID values. 1024L is a good value
 #define	PID_SCALE						1024L
 
+/** \def ENDSTOP_STEPS
+	number of steps to run into the endstops intentionally
+		As Endstops trigger false alarm sometimes, Teacup debounces them by counting a number of consecutive positives. Valid range is 1...255. Use 4 or less for reliable endstops, 8 or even more for flaky ones.
+*/
+#define	ENDSTOP_STEPS	4
+
 
 
 /***************************************************************************\
diff --git a/config.ramps-v1.3.h b/config.ramps-v1.3.h
index 9b073c3..75b898c 100644
--- a/config.ramps-v1.3.h
+++ b/config.ramps-v1.3.h
@@ -435,6 +435,12 @@ PWM value for 'off'
 /// this is the scaling of internally stored PID values. 1024L is a good value
 #define	PID_SCALE						1024L
 
+/** \def ENDSTOP_STEPS
+	number of steps to run into the endstops intentionally
+		As Endstops trigger false alarm sometimes, Teacup debounces them by counting a number of consecutive positives. Valid range is 1...255. Use 4 or less for reliable endstops, 8 or even more for flaky ones.
+*/
+#define	ENDSTOP_STEPS	4
+
 
 
 /***************************************************************************\
diff --git a/config.sanguinololu-v1.1.h b/config.sanguinololu-v1.1.h
index f2b96b5..e484f0b 100644
--- a/config.sanguinololu-v1.1.h
+++ b/config.sanguinololu-v1.1.h
@@ -433,6 +433,12 @@ PWM value for 'off'
 /// this is the scaling of internally stored PID values. 1024L is a good value
 #define	PID_SCALE						1024L
 
+/** \def ENDSTOP_STEPS
+	number of steps to run into the endstops intentionally
+		As Endstops trigger false alarm sometimes, Teacup debounces them by counting a number of consecutive positives. Valid range is 1...255. Use 4 or less for reliable endstops, 8 or even more for flaky ones.
+*/
+#define	ENDSTOP_STEPS	4
+
 
 
 /***************************************************************************\
diff --git a/config.sanguinololu-v1.2.h b/config.sanguinololu-v1.2.h
index 2df2d78..4c81a61 100644
--- a/config.sanguinololu-v1.2.h
+++ b/config.sanguinololu-v1.2.h
@@ -433,6 +433,12 @@ PWM value for 'off'
 /// this is the scaling of internally stored PID values. 1024L is a good value
 #define	PID_SCALE						1024L
 
+/** \def ENDSTOP_STEPS
+	number of steps to run into the endstops intentionally
+		As Endstops trigger false alarm sometimes, Teacup debounces them by counting a number of consecutive positives. Valid range is 1...255. Use 4 or less for reliable endstops, 8 or even more for flaky ones.
+*/
+#define	ENDSTOP_STEPS	4
+
 
 
 /***************************************************************************\
diff --git a/dda.c b/dda.c
index 7977a3f..827521b 100644
--- a/dda.c
+++ b/dda.c
@@ -470,7 +470,8 @@ void dda_step(DDA *dda) {
 			move_state.debounce_count_xmax = 0;
 #endif
 
-		endstop_stop = move_state.debounce_count_xmin >= 8 || move_state.debounce_count_xmax >= 8;
+		endstop_stop = move_state.debounce_count_xmin >= ENDSTOP_STEPS ||
+		               move_state.debounce_count_xmax >= ENDSTOP_STEPS;
 		if (!endstop_stop)
 			endstop_not_done |= 0x1;
 	} else
@@ -503,7 +504,8 @@ void dda_step(DDA *dda) {
 			move_state.debounce_count_ymax = 0;
 #endif
 
-		endstop_stop = move_state.debounce_count_ymin >= 8 || move_state.debounce_count_ymax >= 8;
+		endstop_stop = move_state.debounce_count_ymin >= ENDSTOP_STEPS ||
+		               move_state.debounce_count_ymax >= ENDSTOP_STEPS;
 		if (!endstop_stop)
 			endstop_not_done |= 0x2;
 	} else
@@ -536,7 +538,8 @@ void dda_step(DDA *dda) {
 			move_state.debounce_count_zmax = 0;
 #endif
 
-		endstop_stop = move_state.debounce_count_zmin >= 8 || move_state.debounce_count_zmax >= 8;
+		endstop_stop = move_state.debounce_count_zmin >= ENDSTOP_STEPS ||
+		               move_state.debounce_count_zmax >= ENDSTOP_STEPS;
 		if (!endstop_stop)
 			endstop_not_done |= 0x4;
 	} else