🔧 Refactor endstop state config (#25574)

Marlin/Configuration.h

@@ -1165,26 +1165,29 @@
   //#define ENDSTOPPULLDOWN_ZMIN_PROBE
 #endif
 
-// Mechanical endstop with COM to ground and NC to Signal uses "false" here (most common setup).
-#define X_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define Y_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define Z_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define I_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define J_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define K_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define U_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define V_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define W_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define X_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define Y_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define Z_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define I_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define J_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define K_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define U_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define V_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define W_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
-#define Z_MIN_PROBE_ENDSTOP_INVERTING false // Set to true to invert the logic of the probe.
+/**
+ * Endstop "Hit" State
+ * Set to the state (HIGH or LOW) that applies to each endstop.
+ */
+#define X_MIN_ENDSTOP_HIT_STATE HIGH
+#define X_MAX_ENDSTOP_HIT_STATE HIGH
+#define Y_MIN_ENDSTOP_HIT_STATE HIGH
+#define Y_MAX_ENDSTOP_HIT_STATE HIGH
+#define Z_MIN_ENDSTOP_HIT_STATE HIGH
+#define Z_MAX_ENDSTOP_HIT_STATE HIGH
+#define I_MIN_ENDSTOP_HIT_STATE HIGH
+#define I_MAX_ENDSTOP_HIT_STATE HIGH
+#define J_MIN_ENDSTOP_HIT_STATE HIGH
+#define J_MAX_ENDSTOP_HIT_STATE HIGH
+#define K_MIN_ENDSTOP_HIT_STATE HIGH
+#define K_MAX_ENDSTOP_HIT_STATE HIGH
+#define U_MIN_ENDSTOP_HIT_STATE HIGH
+#define U_MAX_ENDSTOP_HIT_STATE HIGH
+#define V_MIN_ENDSTOP_HIT_STATE HIGH
+#define V_MAX_ENDSTOP_HIT_STATE HIGH
+#define W_MIN_ENDSTOP_HIT_STATE HIGH
+#define W_MAX_ENDSTOP_HIT_STATE HIGH
+#define Z_MIN_PROBE_ENDSTOP_HIT_STATE HIGH
 
 // Enable this feature if all enabled endstop pins are interrupt-capable.
 // This will remove the need to poll the interrupt pins, saving many CPU cycles.

Marlin/src/gcode/config/M43.cpp

@@ -139,24 +139,17 @@ inline void servo_probe_test() {
     bool deploy_state = false, stow_state;
 
     #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
-
+      constexpr bool probe_hit_state = Z_MIN_ENDSTOP_HIT_STATE;
       #define PROBE_TEST_PIN Z_MIN_PIN
-      constexpr bool probe_inverting = Z_MIN_ENDSTOP_INVERTING;
-
-      SERIAL_ECHOLNPGM(". Probe Z_MIN_PIN: ", PROBE_TEST_PIN);
-      SERIAL_ECHOPGM(". Z_MIN_ENDSTOP_INVERTING: ");
-
+      #define _PROBE_PREF "Z_MIN"
     #else
-
+      constexpr bool probe_hit_state = Z_MIN_PROBE_ENDSTOP_HIT_STATE;
       #define PROBE_TEST_PIN Z_MIN_PROBE_PIN
-      constexpr bool probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING;
-
-      SERIAL_ECHOLNPGM(". Probe Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN);
-      SERIAL_ECHOPGM(   ". Z_MIN_PROBE_ENDSTOP_INVERTING: ");
-
+      #define _PROBE_PREF "Z_MIN_PROBE"
     #endif
 
-    serialprint_truefalse(probe_inverting);
+    SERIAL_ECHOLNPGM(". Probe " _PROBE_PREF "_PIN: ", PROBE_TEST_PIN);
+    serial_ternary(probe_hit_state, F(". " _PROBE_PREF "_ENDSTOP_HIT_STATE: "), F("HIGH"), F("LOW"));
     SERIAL_EOL();
 
     SET_INPUT_PULLUP(PROBE_TEST_PIN);
@@ -173,11 +166,11 @@ inline void servo_probe_test() {
       SERIAL_ECHOLNPGM(". Check for BLTOUCH");
       bltouch._reset();
       bltouch._stow();
-      if (probe_inverting == READ(PROBE_TEST_PIN)) {
+      if (READ(PROBE_TEST_PIN) != probe_hit_state) {
         bltouch._set_SW_mode();
-        if (probe_inverting != READ(PROBE_TEST_PIN)) {
+        if (READ(PROBE_TEST_PIN) == probe_hit_state) {
           bltouch._deploy();
-          if (probe_inverting == READ(PROBE_TEST_PIN)) {
+          if (READ(PROBE_TEST_PIN) != probe_hit_state) {
             bltouch._stow();
             SERIAL_ECHOLNPGM("= BLTouch Classic 1.2, 1.3, Smart 1.0, 2.0, 2.2, 3.0, 3.1 detected.");
             // Check for a 3.1 by letting the user trigger it, later
@@ -195,31 +188,30 @@ inline void servo_probe_test() {
     if (!blt) {
       // DEPLOY and STOW 4 times and see if the signal follows
       // Then it is a mechanical switch
-      uint8_t i = 0;
       SERIAL_ECHOLNPGM(". Deploy & stow 4 times");
-      do {
+      LOOP_L_N(i, 4) {
         servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
         safe_delay(500);
         deploy_state = READ(PROBE_TEST_PIN);
         servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
         safe_delay(500);
         stow_state = READ(PROBE_TEST_PIN);
-      } while (++i < 4);
+      }
 
-      if (probe_inverting != deploy_state) SERIAL_ECHOLNPGM("WARNING: INVERTING setting probably backwards.");
+      if (probe_hit_state == deploy_state) SERIAL_ECHOLNPGM("WARNING: " _PROBE_PREF "_ENDSTOP_HIT_STATE is probably wrong.");
 
       if (deploy_state != stow_state) {
         SERIAL_ECHOLNPGM("= Mechanical Switch detected");
         if (deploy_state) {
-          SERIAL_ECHOLNPGM("  DEPLOYED state: HIGH (logic 1)",
-                            "  STOWED (triggered) state: LOW (logic 0)");
+          SERIAL_ECHOLNPGM(". DEPLOYED state: HIGH (logic 1)\n"
+                           ". STOWED (triggered) state: LOW (logic 0)");
         }
         else {
-          SERIAL_ECHOLNPGM("  DEPLOYED state: LOW (logic 0)",
-                            "  STOWED (triggered) state: HIGH (logic 1)");
+          SERIAL_ECHOLNPGM(". DEPLOYED state: LOW (logic 0)\n"
+                           ". STOWED (triggered) state: HIGH (logic 1)");
         }
         #if ENABLED(BLTOUCH)
-          SERIAL_ECHOLNPGM("FAIL: BLTOUCH enabled - Set up this device as a Servo Probe with INVERTING set to 'true'.");
+          SERIAL_ECHOLNPGM("FAIL: Can't enable BLTOUCH. Check your settings.");
         #endif
         return;
       }

Marlin/src/inc/Conditionals_LCD.h

@@ -794,8 +794,8 @@
   #undef AVOID_OBSTACLES
   #undef ENDSTOPPULLUP_YMIN
   #undef ENDSTOPPULLUP_YMAX
-  #undef Y_MIN_ENDSTOP_INVERTING
-  #undef Y_MAX_ENDSTOP_INVERTING
+  #undef Y_MIN_ENDSTOP_HIT_STATE
+  #undef Y_MAX_ENDSTOP_HIT_STATE
   #undef Y2_DRIVER_TYPE
   #undef Y_ENABLE_ON
   #undef DISABLE_Y
@@ -821,8 +821,8 @@
 #else
   #undef ENDSTOPPULLUP_ZMIN
   #undef ENDSTOPPULLUP_ZMAX
-  #undef Z_MIN_ENDSTOP_INVERTING
-  #undef Z_MAX_ENDSTOP_INVERTING
+  #undef Z_MIN_ENDSTOP_HIT_STATE
+  #undef Z_MAX_ENDSTOP_HIT_STATE
   #undef Z2_DRIVER_TYPE
   #undef Z3_DRIVER_TYPE
   #undef Z4_DRIVER_TYPE
@@ -841,8 +841,8 @@
 #if !HAS_I_AXIS
   #undef ENDSTOPPULLUP_IMIN
   #undef ENDSTOPPULLUP_IMAX
-  #undef I_MIN_ENDSTOP_INVERTING
-  #undef I_MAX_ENDSTOP_INVERTING
+  #undef I_MIN_ENDSTOP_HIT_STATE
+  #undef I_MAX_ENDSTOP_HIT_STATE
   #undef I_ENABLE_ON
   #undef DISABLE_I
   #undef INVERT_I_DIR
@@ -857,8 +857,8 @@
 #if !HAS_J_AXIS
   #undef ENDSTOPPULLUP_JMIN
   #undef ENDSTOPPULLUP_JMAX
-  #undef J_MIN_ENDSTOP_INVERTING
-  #undef J_MAX_ENDSTOP_INVERTING
+  #undef J_MIN_ENDSTOP_HIT_STATE
+  #undef J_MAX_ENDSTOP_HIT_STATE
   #undef J_ENABLE_ON
   #undef DISABLE_J
   #undef INVERT_J_DIR
@@ -873,8 +873,8 @@
 #if !HAS_K_AXIS
   #undef ENDSTOPPULLUP_KMIN
   #undef ENDSTOPPULLUP_KMAX
-  #undef K_MIN_ENDSTOP_INVERTING
-  #undef K_MAX_ENDSTOP_INVERTING
+  #undef K_MIN_ENDSTOP_HIT_STATE
+  #undef K_MAX_ENDSTOP_HIT_STATE
   #undef K_ENABLE_ON
   #undef DISABLE_K
   #undef INVERT_K_DIR
@@ -889,8 +889,8 @@
 #if !HAS_U_AXIS
   #undef ENDSTOPPULLUP_UMIN
   #undef ENDSTOPPULLUP_UMAX
-  #undef U_MIN_ENDSTOP_INVERTING
-  #undef U_MAX_ENDSTOP_INVERTING
+  #undef U_MIN_ENDSTOP_HIT_STATE
+  #undef U_MAX_ENDSTOP_HIT_STATE
   #undef U_ENABLE_ON
   #undef DISABLE_U
   #undef INVERT_U_DIR
@@ -905,8 +905,8 @@
 #if !HAS_V_AXIS
   #undef ENDSTOPPULLUP_VMIN
   #undef ENDSTOPPULLUP_VMAX
-  #undef V_MIN_ENDSTOP_INVERTING
-  #undef V_MAX_ENDSTOP_INVERTING
+  #undef V_MIN_ENDSTOP_HIT_STATE
+  #undef V_MAX_ENDSTOP_HIT_STATE
   #undef V_ENABLE_ON
   #undef DISABLE_V
   #undef INVERT_V_DIR
@@ -921,8 +921,8 @@
 #if !HAS_W_AXIS
   #undef ENDSTOPPULLUP_WMIN
   #undef ENDSTOPPULLUP_WMAX
-  #undef W_MIN_ENDSTOP_INVERTING
-  #undef W_MAX_ENDSTOP_INVERTING
+  #undef W_MIN_ENDSTOP_HIT_STATE
+  #undef W_MAX_ENDSTOP_HIT_STATE
   #undef W_ENABLE_ON
   #undef DISABLE_W
   #undef INVERT_W_DIR
@@ -1081,10 +1081,8 @@
  * The BLTouch Probe emulates a servo probe
  * and uses "special" angles for its state.
  */
-#if ENABLED(BLTOUCH)
-  #ifndef Z_PROBE_SERVO_NR
-    #define Z_PROBE_SERVO_NR 0
-  #endif
+#if ENABLED(BLTOUCH) && !defined(Z_PROBE_SERVO_NR)
+  #define Z_PROBE_SERVO_NR 0
 #endif
 
 /**

Marlin/src/inc/Conditionals_post.h

@@ -914,19 +914,19 @@
  */
 #if ENABLED(X_DUAL_ENDSTOPS)
   #if X_HOME_TO_MAX
-    #ifndef X2_MAX_ENDSTOP_INVERTING
+    #ifndef X2_MAX_ENDSTOP_HIT_STATE
       #if X2_USE_ENDSTOP == _XMIN_
-        #define X2_MAX_ENDSTOP_INVERTING X_MIN_ENDSTOP_INVERTING
+        #define X2_MAX_ENDSTOP_HIT_STATE X_MIN_ENDSTOP_HIT_STATE
       #elif X2_USE_ENDSTOP == _XMAX_
-        #define X2_MAX_ENDSTOP_INVERTING X_MAX_ENDSTOP_INVERTING
+        #define X2_MAX_ENDSTOP_HIT_STATE X_MAX_ENDSTOP_HIT_STATE
       #elif X2_USE_ENDSTOP == _YMIN_
-        #define X2_MAX_ENDSTOP_INVERTING Y_MIN_ENDSTOP_INVERTING
+        #define X2_MAX_ENDSTOP_HIT_STATE Y_MIN_ENDSTOP_HIT_STATE
       #elif X2_USE_ENDSTOP == _YMAX_
-        #define X2_MAX_ENDSTOP_INVERTING Y_MAX_ENDSTOP_INVERTING
+        #define X2_MAX_ENDSTOP_HIT_STATE Y_MAX_ENDSTOP_HIT_STATE
       #elif X2_USE_ENDSTOP == _ZMIN_
-        #define X2_MAX_ENDSTOP_INVERTING Z_MIN_ENDSTOP_INVERTING
+        #define X2_MAX_ENDSTOP_HIT_STATE Z_MIN_ENDSTOP_HIT_STATE
       #elif X2_USE_ENDSTOP == _ZMAX_
-        #define X2_MAX_ENDSTOP_INVERTING Z_MAX_ENDSTOP_INVERTING
+        #define X2_MAX_ENDSTOP_HIT_STATE Z_MAX_ENDSTOP_HIT_STATE
       #endif
     #endif
     #if !PIN_EXISTS(X2_MAX)
@@ -936,19 +936,19 @@
       #endif
     #endif
   #else
-    #ifndef X2_MIN_ENDSTOP_INVERTING
+    #ifndef X2_MIN_ENDSTOP_HIT_STATE
       #if X2_USE_ENDSTOP == _XMIN_
-        #define X2_MIN_ENDSTOP_INVERTING X_MIN_ENDSTOP_INVERTING
+        #define X2_MIN_ENDSTOP_HIT_STATE X_MIN_ENDSTOP_HIT_STATE
       #elif X2_USE_ENDSTOP == _XMAX_
-        #define X2_MIN_ENDSTOP_INVERTING X_MAX_ENDSTOP_INVERTING
+        #define X2_MIN_ENDSTOP_HIT_STATE X_MAX_ENDSTOP_HIT_STATE
       #elif X2_USE_ENDSTOP == _YMIN_
-        #define X2_MIN_ENDSTOP_INVERTING Y_MIN_ENDSTOP_INVERTING
+        #define X2_MIN_ENDSTOP_HIT_STATE Y_MIN_ENDSTOP_HIT_STATE
       #elif X2_USE_ENDSTOP == _YMAX_
-        #define X2_MIN_ENDSTOP_INVERTING Y_MAX_ENDSTOP_INVERTING
+        #define X2_MIN_ENDSTOP_HIT_STATE Y_MAX_ENDSTOP_HIT_STATE
       #elif X2_USE_ENDSTOP == _ZMIN_
-        #define X2_MIN_ENDSTOP_INVERTING Z_MIN_ENDSTOP_INVERTING
+        #define X2_MIN_ENDSTOP_HIT_STATE Z_MIN_ENDSTOP_HIT_STATE
       #elif X2_USE_ENDSTOP == _ZMAX_
-        #define X2_MIN_ENDSTOP_INVERTING Z_MAX_ENDSTOP_INVERTING
+        #define X2_MIN_ENDSTOP_HIT_STATE Z_MAX_ENDSTOP_HIT_STATE
       #endif
     #endif
     #if !PIN_EXISTS(X2_MIN)
@@ -958,11 +958,11 @@
       #endif
     #endif
   #endif
-  #ifndef X2_MAX_ENDSTOP_INVERTING
-    #define X2_MAX_ENDSTOP_INVERTING false
+  #ifndef X2_MAX_ENDSTOP_HIT_STATE
+    #define X2_MAX_ENDSTOP_HIT_STATE HIGH
   #endif
-  #ifndef X2_MIN_ENDSTOP_INVERTING
-    #define X2_MIN_ENDSTOP_INVERTING false
+  #ifndef X2_MIN_ENDSTOP_HIT_STATE
+    #define X2_MIN_ENDSTOP_HIT_STATE HIGH
   #endif
 #endif
 
@@ -971,19 +971,19 @@
  */
 #if ENABLED(Y_DUAL_ENDSTOPS)
   #if Y_HOME_TO_MAX
-    #ifndef Y2_MAX_ENDSTOP_INVERTING
+    #ifndef Y2_MAX_ENDSTOP_HIT_STATE
       #if Y2_USE_ENDSTOP == _XMIN_
-        #define Y2_MAX_ENDSTOP_INVERTING X_MIN_ENDSTOP_INVERTING
+        #define Y2_MAX_ENDSTOP_HIT_STATE X_MIN_ENDSTOP_HIT_STATE
       #elif Y2_USE_ENDSTOP == _XMAX_
-        #define Y2_MAX_ENDSTOP_INVERTING X_MAX_ENDSTOP_INVERTING
+        #define Y2_MAX_ENDSTOP_HIT_STATE X_MAX_ENDSTOP_HIT_STATE
       #elif Y2_USE_ENDSTOP == _YMIN_
-        #define Y2_MAX_ENDSTOP_INVERTING Y_MIN_ENDSTOP_INVERTING
+        #define Y2_MAX_ENDSTOP_HIT_STATE Y_MIN_ENDSTOP_HIT_STATE
       #elif Y2_USE_ENDSTOP == _YMAX_
-        #define Y2_MAX_ENDSTOP_INVERTING Y_MAX_ENDSTOP_INVERTING
+        #define Y2_MAX_ENDSTOP_HIT_STATE Y_MAX_ENDSTOP_HIT_STATE
       #elif Y2_USE_ENDSTOP == _ZMIN_
-        #define Y2_MAX_ENDSTOP_INVERTING Z_MIN_ENDSTOP_INVERTING
+        #define Y2_MAX_ENDSTOP_HIT_STATE Z_MIN_ENDSTOP_HIT_STATE
       #elif Y2_USE_ENDSTOP == _ZMAX_
-        #define Y2_MAX_ENDSTOP_INVERTING Z_MAX_ENDSTOP_INVERTING
+        #define Y2_MAX_ENDSTOP_HIT_STATE Z_MAX_ENDSTOP_HIT_STATE
       #endif
     #endif
     #if !PIN_EXISTS(Y2_MAX)
@@ -993,19 +993,19 @@
       #endif
     #endif
   #else
-    #ifndef Y2_MIN_ENDSTOP_INVERTING
+    #ifndef Y2_MIN_ENDSTOP_HIT_STATE
       #if Y2_USE_ENDSTOP == _XMIN_
-        #define Y2_MIN_ENDSTOP_INVERTING X_MIN_ENDSTOP_INVERTING
+        #define Y2_MIN_ENDSTOP_HIT_STATE X_MIN_ENDSTOP_HIT_STATE
       #elif Y2_USE_ENDSTOP == _XMAX_
-        #define Y2_MIN_ENDSTOP_INVERTING X_MAX_ENDSTOP_INVERTING
+        #define Y2_MIN_ENDSTOP_HIT_STATE X_MAX_ENDSTOP_HIT_STATE
       #elif Y2_USE_ENDSTOP == _YMIN_
-        #define Y2_MIN_ENDSTOP_INVERTING Y_MIN_ENDSTOP_INVERTING
+        #define Y2_MIN_ENDSTOP_HIT_STATE Y_MIN_ENDSTOP_HIT_STATE
       #elif Y2_USE_ENDSTOP == _YMAX_
-        #define Y2_MIN_ENDSTOP_INVERTING Y_MAX_ENDSTOP_INVERTING
+        #define Y2_MIN_ENDSTOP_HIT_STATE Y_MAX_ENDSTOP_HIT_STATE
       #elif Y2_USE_ENDSTOP == _ZMIN_
-        #define Y2_MIN_ENDSTOP_INVERTING Z_MIN_ENDSTOP_INVERTING
+        #define Y2_MIN_ENDSTOP_HIT_STATE Z_MIN_ENDSTOP_HIT_STATE
       #elif Y2_USE_ENDSTOP == _ZMAX_
-        #define Y2_MIN_ENDSTOP_INVERTING Z_MAX_ENDSTOP_INVERTING
+        #define Y2_MIN_ENDSTOP_HIT_STATE Z_MAX_ENDSTOP_HIT_STATE
       #endif
     #endif
     #if !PIN_EXISTS(Y2_MIN)
@@ -1015,11 +1015,11 @@
       #endif
     #endif
   #endif
-  #ifndef Y2_MAX_ENDSTOP_INVERTING
-    #define Y2_MAX_ENDSTOP_INVERTING false
+  #ifndef Y2_MAX_ENDSTOP_HIT_STATE
+    #define Y2_MAX_ENDSTOP_HIT_STATE HIGH
   #endif
-  #ifndef Y2_MIN_ENDSTOP_INVERTING
-    #define Y2_MIN_ENDSTOP_INVERTING false
+  #ifndef Y2_MIN_ENDSTOP_HIT_STATE
+    #define Y2_MIN_ENDSTOP_HIT_STATE HIGH
   #endif
 #endif
 
@@ -1029,19 +1029,19 @@
 #if ENABLED(Z_MULTI_ENDSTOPS)
 
   #if Z_HOME_TO_MAX
-    #ifndef Z2_MAX_ENDSTOP_INVERTING
+    #ifndef Z2_MAX_ENDSTOP_HIT_STATE
       #if Z2_USE_ENDSTOP == _XMIN_
-        #define Z2_MAX_ENDSTOP_INVERTING X_MIN_ENDSTOP_INVERTING
+        #define Z2_MAX_ENDSTOP_HIT_STATE X_MIN_ENDSTOP_HIT_STATE
       #elif Z2_USE_ENDSTOP == _XMAX_
-        #define Z2_MAX_ENDSTOP_INVERTING X_MAX_ENDSTOP_INVERTING
+        #define Z2_MAX_ENDSTOP_HIT_STATE X_MAX_ENDSTOP_HIT_STATE
       #elif Z2_USE_ENDSTOP == _YMIN_
-        #define Z2_MAX_ENDSTOP_INVERTING Y_MIN_ENDSTOP_INVERTING
+        #define Z2_MAX_ENDSTOP_HIT_STATE Y_MIN_ENDSTOP_HIT_STATE
       #elif Z2_USE_ENDSTOP == _YMAX_
-        #define Z2_MAX_ENDSTOP_INVERTING Y_MAX_ENDSTOP_INVERTING
+        #define Z2_MAX_ENDSTOP_HIT_STATE Y_MAX_ENDSTOP_HIT_STATE
       #elif Z2_USE_ENDSTOP == _ZMIN_
-        #define Z2_MAX_ENDSTOP_INVERTING Z_MIN_ENDSTOP_INVERTING
+        #define Z2_MAX_ENDSTOP_HIT_STATE Z_MIN_ENDSTOP_HIT_STATE
       #elif Z2_USE_ENDSTOP == _ZMAX_
-        #define Z2_MAX_ENDSTOP_INVERTING Z_MAX_ENDSTOP_INVERTING
+        #define Z2_MAX_ENDSTOP_HIT_STATE Z_MAX_ENDSTOP_HIT_STATE
       #endif
     #endif
     #if !PIN_EXISTS(Z2_MAX)
@@ -1051,19 +1051,19 @@
       #endif
     #endif
   #else
-    #ifndef Z2_MIN_ENDSTOP_INVERTING
+    #ifndef Z2_MIN_ENDSTOP_HIT_STATE
       #if Z2_USE_ENDSTOP == _XMIN_
-        #define Z2_MIN_ENDSTOP_INVERTING X_MIN_ENDSTOP_INVERTING
+        #define Z2_MIN_ENDSTOP_HIT_STATE X_MIN_ENDSTOP_HIT_STATE
       #elif Z2_USE_ENDSTOP == _XMAX_
-        #define Z2_MIN_ENDSTOP_INVERTING X_MAX_ENDSTOP_INVERTING
+        #define Z2_MIN_ENDSTOP_HIT_STATE X_MAX_ENDSTOP_HIT_STATE
       #elif Z2_USE_ENDSTOP == _YMIN_
-        #define Z2_MIN_ENDSTOP_INVERTING Y_MIN_ENDSTOP_INVERTING
+        #define Z2_MIN_ENDSTOP_HIT_STATE Y_MIN_ENDSTOP_HIT_STATE
       #elif Z2_USE_ENDSTOP == _YMAX_
-        #define Z2_MIN_ENDSTOP_INVERTING Y_MAX_ENDSTOP_INVERTING
+        #define Z2_MIN_ENDSTOP_HIT_STATE Y_MAX_ENDSTOP_HIT_STATE
       #elif Z2_USE_ENDSTOP == _ZMIN_
-        #define Z2_MIN_ENDSTOP_INVERTING Z_MIN_ENDSTOP_INVERTING
+        #define Z2_MIN_ENDSTOP_HIT_STATE Z_MIN_ENDSTOP_HIT_STATE
       #elif Z2_USE_ENDSTOP == _ZMAX_
-        #define Z2_MIN_ENDSTOP_INVERTING Z_MAX_ENDSTOP_INVERTING
+        #define Z2_MIN_ENDSTOP_HIT_STATE Z_MAX_ENDSTOP_HIT_STATE
       #endif
     #endif
     #if !PIN_EXISTS(Z2_MIN)
@@ -1073,28 +1073,28 @@
       #endif
     #endif
   #endif
-  #ifndef Z2_MAX_ENDSTOP_INVERTING
-    #define Z2_MAX_ENDSTOP_INVERTING false
+  #ifndef Z2_MAX_ENDSTOP_HIT_STATE
+    #define Z2_MAX_ENDSTOP_HIT_STATE HIGH
   #endif
-  #ifndef Z2_MIN_ENDSTOP_INVERTING
-    #define Z2_MIN_ENDSTOP_INVERTING false
+  #ifndef Z2_MIN_ENDSTOP_HIT_STATE
+    #define Z2_MIN_ENDSTOP_HIT_STATE HIGH
   #endif
 
   #if NUM_Z_STEPPERS >= 3
     #if Z_HOME_TO_MAX
-      #ifndef Z3_MAX_ENDSTOP_INVERTING
+      #ifndef Z3_MAX_ENDSTOP_HIT_STATE
         #if Z3_USE_ENDSTOP == _XMIN_
-          #define Z3_MAX_ENDSTOP_INVERTING X_MIN_ENDSTOP_INVERTING
+          #define Z3_MAX_ENDSTOP_HIT_STATE X_MIN_ENDSTOP_HIT_STATE
         #elif Z3_USE_ENDSTOP == _XMAX_
-          #define Z3_MAX_ENDSTOP_INVERTING X_MAX_ENDSTOP_INVERTING
+          #define Z3_MAX_ENDSTOP_HIT_STATE X_MAX_ENDSTOP_HIT_STATE
         #elif Z3_USE_ENDSTOP == _YMIN_
-          #define Z3_MAX_ENDSTOP_INVERTING Y_MIN_ENDSTOP_INVERTING
+          #define Z3_MAX_ENDSTOP_HIT_STATE Y_MIN_ENDSTOP_HIT_STATE
         #elif Z3_USE_ENDSTOP == _YMAX_
-          #define Z3_MAX_ENDSTOP_INVERTING Y_MAX_ENDSTOP_INVERTING
+          #define Z3_MAX_ENDSTOP_HIT_STATE Y_MAX_ENDSTOP_HIT_STATE
         #elif Z3_USE_ENDSTOP == _ZMIN_
-          #define Z3_MAX_ENDSTOP_INVERTING Z_MIN_ENDSTOP_INVERTING
+          #define Z3_MAX_ENDSTOP_HIT_STATE Z_MIN_ENDSTOP_HIT_STATE
         #elif Z3_USE_ENDSTOP == _ZMAX_
-          #define Z3_MAX_ENDSTOP_INVERTING Z_MAX_ENDSTOP_INVERTING
+          #define Z3_MAX_ENDSTOP_HIT_STATE Z_MAX_ENDSTOP_HIT_STATE
         #endif
       #endif
       #if !PIN_EXISTS(Z3_MAX)
@@ -1104,19 +1104,19 @@
         #endif
       #endif
     #else
-      #ifndef Z3_MIN_ENDSTOP_INVERTING
+      #ifndef Z3_MIN_ENDSTOP_HIT_STATE
         #if Z3_USE_ENDSTOP == _XMIN_
-          #define Z3_MIN_ENDSTOP_INVERTING X_MIN_ENDSTOP_INVERTING
+          #define Z3_MIN_ENDSTOP_HIT_STATE X_MIN_ENDSTOP_HIT_STATE
         #elif Z3_USE_ENDSTOP == _XMAX_
-          #define Z3_MIN_ENDSTOP_INVERTING X_MAX_ENDSTOP_INVERTING
+          #define Z3_MIN_ENDSTOP_HIT_STATE X_MAX_ENDSTOP_HIT_STATE
         #elif Z3_USE_ENDSTOP == _YMIN_
-          #define Z3_MIN_ENDSTOP_INVERTING Y_MIN_ENDSTOP_INVERTING
+          #define Z3_MIN_ENDSTOP_HIT_STATE Y_MIN_ENDSTOP_HIT_STATE
         #elif Z3_USE_ENDSTOP == _YMAX_
-          #define Z3_MIN_ENDSTOP_INVERTING Y_MAX_ENDSTOP_INVERTING
+          #define Z3_MIN_ENDSTOP_HIT_STATE Y_MAX_ENDSTOP_HIT_STATE
         #elif Z3_USE_ENDSTOP == _ZMIN_
-          #define Z3_MIN_ENDSTOP_INVERTING Z_MIN_ENDSTOP_INVERTING
+          #define Z3_MIN_ENDSTOP_HIT_STATE Z_MIN_ENDSTOP_HIT_STATE
         #elif Z3_USE_ENDSTOP == _ZMAX_
-          #define Z3_MIN_ENDSTOP_INVERTING Z_MAX_ENDSTOP_INVERTING
+          #define Z3_MIN_ENDSTOP_HIT_STATE Z_MAX_ENDSTOP_HIT_STATE
         #endif
       #endif
       #if !PIN_EXISTS(Z3_MIN)
@@ -1126,29 +1126,29 @@
         #endif
       #endif
     #endif
-    #ifndef Z3_MAX_ENDSTOP_INVERTING
-      #define Z3_MAX_ENDSTOP_INVERTING false
+    #ifndef Z3_MAX_ENDSTOP_HIT_STATE
+      #define Z3_MAX_ENDSTOP_HIT_STATE HIGH
     #endif
-    #ifndef Z3_MIN_ENDSTOP_INVERTING
-      #define Z3_MIN_ENDSTOP_INVERTING false
+    #ifndef Z3_MIN_ENDSTOP_HIT_STATE
+      #define Z3_MIN_ENDSTOP_HIT_STATE HIGH
     #endif
   #endif
 
   #if NUM_Z_STEPPERS >= 4
     #if Z_HOME_TO_MAX
-      #ifndef Z4_MAX_ENDSTOP_INVERTING
+      #ifndef Z4_MAX_ENDSTOP_HIT_STATE
         #if Z4_USE_ENDSTOP == _XMIN_
-          #define Z4_MAX_ENDSTOP_INVERTING X_MIN_ENDSTOP_INVERTING
+          #define Z4_MAX_ENDSTOP_HIT_STATE X_MIN_ENDSTOP_HIT_STATE
         #elif Z4_USE_ENDSTOP == _XMAX_
-          #define Z4_MAX_ENDSTOP_INVERTING X_MAX_ENDSTOP_INVERTING
+          #define Z4_MAX_ENDSTOP_HIT_STATE X_MAX_ENDSTOP_HIT_STATE
         #elif Z4_USE_ENDSTOP == _YMIN_
-          #define Z4_MAX_ENDSTOP_INVERTING Y_MIN_ENDSTOP_INVERTING
+          #define Z4_MAX_ENDSTOP_HIT_STATE Y_MIN_ENDSTOP_HIT_STATE
         #elif Z4_USE_ENDSTOP == _YMAX_
-          #define Z4_MAX_ENDSTOP_INVERTING Y_MAX_ENDSTOP_INVERTING
+          #define Z4_MAX_ENDSTOP_HIT_STATE Y_MAX_ENDSTOP_HIT_STATE
         #elif Z4_USE_ENDSTOP == _ZMIN_
-          #define Z4_MAX_ENDSTOP_INVERTING Z_MIN_ENDSTOP_INVERTING
+          #define Z4_MAX_ENDSTOP_HIT_STATE Z_MIN_ENDSTOP_HIT_STATE
         #elif Z4_USE_ENDSTOP == _ZMAX_
-          #define Z4_MAX_ENDSTOP_INVERTING Z_MAX_ENDSTOP_INVERTING
+          #define Z4_MAX_ENDSTOP_HIT_STATE Z_MAX_ENDSTOP_HIT_STATE
         #endif
       #endif
       #if !PIN_EXISTS(Z4_MAX)
@@ -1158,19 +1158,19 @@
         #endif
       #endif
     #else
-      #ifndef Z4_MIN_ENDSTOP_INVERTING
+      #ifndef Z4_MIN_ENDSTOP_HIT_STATE
         #if Z4_USE_ENDSTOP == _XMIN_
-          #define Z4_MIN_ENDSTOP_INVERTING X_MIN_ENDSTOP_INVERTING
+          #define Z4_MIN_ENDSTOP_HIT_STATE X_MIN_ENDSTOP_HIT_STATE
         #elif Z4_USE_ENDSTOP == _XMAX_
-          #define Z4_MIN_ENDSTOP_INVERTING X_MAX_ENDSTOP_INVERTING
+          #define Z4_MIN_ENDSTOP_HIT_STATE X_MAX_ENDSTOP_HIT_STATE
         #elif Z4_USE_ENDSTOP == _YMIN_
-          #define Z4_MIN_ENDSTOP_INVERTING Y_MIN_ENDSTOP_INVERTING
+          #define Z4_MIN_ENDSTOP_HIT_STATE Y_MIN_ENDSTOP_HIT_STATE
         #elif Z4_USE_ENDSTOP == _YMAX_
-          #define Z4_MIN_ENDSTOP_INVERTING Y_MAX_ENDSTOP_INVERTING
+          #define Z4_MIN_ENDSTOP_HIT_STATE Y_MAX_ENDSTOP_HIT_STATE
         #elif Z4_USE_ENDSTOP == _ZMIN_
-          #define Z4_MIN_ENDSTOP_INVERTING Z_MIN_ENDSTOP_INVERTING
+          #define Z4_MIN_ENDSTOP_HIT_STATE Z_MIN_ENDSTOP_HIT_STATE
         #elif Z4_USE_ENDSTOP == _ZMAX_
-          #define Z4_MIN_ENDSTOP_INVERTING Z_MAX_ENDSTOP_INVERTING
+          #define Z4_MIN_ENDSTOP_HIT_STATE Z_MAX_ENDSTOP_HIT_STATE
         #endif
       #endif
       #if !PIN_EXISTS(Z4_MIN)
@@ -1180,11 +1180,11 @@
         #endif
       #endif
     #endif
-    #ifndef Z4_MAX_ENDSTOP_INVERTING
-      #define Z4_MAX_ENDSTOP_INVERTING false
+    #ifndef Z4_MAX_ENDSTOP_HIT_STATE
+      #define Z4_MAX_ENDSTOP_HIT_STATE HIGH
     #endif
-    #ifndef Z4_MIN_ENDSTOP_INVERTING
-      #define Z4_MIN_ENDSTOP_INVERTING false
+    #ifndef Z4_MIN_ENDSTOP_HIT_STATE
+      #define Z4_MIN_ENDSTOP_HIT_STATE HIGH
     #endif
   #endif
 

Marlin/src/inc/SanityCheck.h

@@ -1876,19 +1876,19 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE, "Movement bounds (X_MIN_POS, X_MAX_POS
     #endif
 
     #if ENABLED(INVERTED_PROBE_STATE)
-      #if !Z_MIN_PROBE_ENDSTOP_INVERTING
-        #error "BLTOUCH requires Z_MIN_PROBE_ENDSTOP_INVERTING set to true."
+      #if Z_MIN_PROBE_ENDSTOP_HIT_STATE != LOW
+        #error "BLTOUCH requires Z_MIN_PROBE_ENDSTOP_HIT_STATE LOW."
       #endif
-    #elif Z_MIN_PROBE_ENDSTOP_INVERTING
-      #error "BLTOUCH requires Z_MIN_PROBE_ENDSTOP_INVERTING set to false."
+    #elif Z_MIN_PROBE_ENDSTOP_HIT_STATE != HIGH
+      #error "BLTOUCH requires Z_MIN_PROBE_ENDSTOP_HIT_STATE HIGH."
     #endif
     #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
       #if ENABLED(INVERTED_PROBE_STATE)
-        #if !Z_MIN_ENDSTOP_INVERTING
-          #error "BLTOUCH requires Z_MIN_ENDSTOP_INVERTING set to true."
+        #if Z_MIN_ENDSTOP_HIT_STATE != LOW
+          #error "BLTOUCH requires Z_MIN_ENDSTOP_HIT_STATE LOW."
         #endif
-      #elif Z_MIN_ENDSTOP_INVERTING
-        #error "BLTOUCH requires Z_MIN_ENDSTOP_INVERTING set to false."
+      #elif Z_MIN_ENDSTOP_HIT_STATE != HIGH
+        #error "BLTOUCH requires Z_MIN_ENDSTOP_HIT_STATE HIGH."
       #endif
     #endif
 
@@ -1916,19 +1916,19 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE, "Movement bounds (X_MIN_POS, X_MAX_POS
       #error "TOUCH_MI_PROBE currently requires an LCD controller or EMERGENCY_PARSER."
     #endif
     #if ENABLED(INVERTED_PROBE_STATE)
-      #if !Z_MIN_PROBE_ENDSTOP_INVERTING
-        #error "TOUCH_MI_PROBE requires Z_MIN_PROBE_ENDSTOP_INVERTING set to true."
+      #if Z_MIN_PROBE_ENDSTOP_HIT_STATE != LOW
+        #error "TOUCH_MI_PROBE requires Z_MIN_PROBE_ENDSTOP_HIT_STATE LOW."
       #endif
-    #elif Z_MIN_PROBE_ENDSTOP_INVERTING
-      #error "TOUCH_MI_PROBE requires Z_MIN_PROBE_ENDSTOP_INVERTING set to false."
+    #elif Z_MIN_PROBE_ENDSTOP_HIT_STATE != HIGH
+      #error "TOUCH_MI_PROBE requires Z_MIN_PROBE_ENDSTOP_HIT_STATE HIGH."
     #endif
     #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
       #if ENABLED(INVERTED_PROBE_STATE)
-        #if !Z_MIN_ENDSTOP_INVERTING
-          #error "TOUCH_MI_PROBE requires Z_MIN_ENDSTOP_INVERTING set to true."
+        #if Z_MIN_ENDSTOP_HIT_STATE != LOW
+          #error "TOUCH_MI_PROBE requires Z_MIN_ENDSTOP_HIT_STATE LOW."
         #endif
-      #elif Z_MIN_ENDSTOP_INVERTING
-        #error "TOUCH_MI_PROBE requires Z_MIN_ENDSTOP_INVERTING set to false."
+      #elif Z_MIN_ENDSTOP_HIT_STATE != HIGH
+        #error "TOUCH_MI_PROBE requires Z_MIN_ENDSTOP_HIT_STATE HIGH."
       #endif
     #endif
   #endif // TOUCH_MI_PROBE
@@ -1967,8 +1967,8 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE, "Movement bounds (X_MIN_POS, X_MAX_POS
       #error "Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN requires USE_ZMIN_PLUG to be enabled."
     #elif !HAS_Z_MIN
       #error "Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN requires the Z_MIN_PIN to be defined."
-    #elif Z_MIN_PROBE_ENDSTOP_INVERTING != Z_MIN_ENDSTOP_INVERTING
-      #error "Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN requires Z_MIN_ENDSTOP_INVERTING to match Z_MIN_PROBE_ENDSTOP_INVERTING."
+    #elif Z_MIN_PROBE_ENDSTOP_HIT_STATE != Z_MIN_ENDSTOP_HIT_STATE
+      #error "Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN requires Z_MIN_ENDSTOP_HIT_STATE to match Z_MIN_PROBE_ENDSTOP_HIT_STATE."
     #endif
   #elif !HAS_Z_MIN_PROBE_PIN
     #error "Z_MIN_PROBE_PIN must be defined if Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN is not enabled."
@@ -3449,17 +3449,17 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE, "Movement bounds (X_MIN_POS, X_MAX_POS
   #error "TMC2208 or TMC2209 on E6 requires E6_HARDWARE_SERIAL or E6_SERIAL_(RX|TX)_PIN."
 #elif INVALID_TMC_UART(E7)
   #error "TMC2208 or TMC2209 on E7 requires E7_HARDWARE_SERIAL or E7_SERIAL_(RX|TX)_PIN."
-#elif HAS_I_AXIS && INVALID_TMC_UART(I)
+#elif INVALID_TMC_UART(I)
   #error "TMC2208 or TMC2209 on I requires I_HARDWARE_SERIAL or I_SERIAL_(RX|TX)_PIN."
-#elif HAS_J_AXIS && INVALID_TMC_UART(J)
+#elif INVALID_TMC_UART(J)
   #error "TMC2208 or TMC2209 on J requires J_HARDWARE_SERIAL or J_SERIAL_(RX|TX)_PIN."
-#elif HAS_K_AXIS && INVALID_TMC_UART(K)
+#elif INVALID_TMC_UART(K)
   #error "TMC2208 or TMC2209 on K requires K_HARDWARE_SERIAL or K_SERIAL_(RX|TX)_PIN."
-#elif HAS_U_AXIS && INVALID_TMC_UART(U)
+#elif INVALID_TMC_UART(U)
   #error "TMC2208 or TMC2209 on U requires U_HARDWARE_SERIAL or U_SERIAL_(RX|TX)_PIN."
-#elif HAS_V_AXIS && INVALID_TMC_UART(V)
+#elif INVALID_TMC_UART(V)
   #error "TMC2208 or TMC2209 on V requires V_HARDWARE_SERIAL or V_SERIAL_(RX|TX)_PIN."
-#elif HAS_W_AXIS && INVALID_TMC_UART(W)
+#elif INVALID_TMC_UART(W)
   #error "TMC2208 or TMC2209 on W requires W_HARDWARE_SERIAL or W_SERIAL_(RX|TX)_PIN."
 
 #endif
@@ -3552,17 +3552,17 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE, "Movement bounds (X_MIN_POS, X_MAX_POS
   INVALID_TMC_MS(E6)
 #elif !TMC_MICROSTEP_IS_VALID(E7)
   INVALID_TMC_MS(E7)
-#elif HAS_I_AXIS && !TMC_MICROSTEP_IS_VALID(I)
+#elif !TMC_MICROSTEP_IS_VALID(I)
   INVALID_TMC_MS(I)
-#elif HAS_J_AXIS && !TMC_MICROSTEP_IS_VALID(J)
+#elif !TMC_MICROSTEP_IS_VALID(J)
   INVALID_TMC_MS(J)
-#elif HAS_K_AXIS && !TMC_MICROSTEP_IS_VALID(K)
+#elif !TMC_MICROSTEP_IS_VALID(K)
   INVALID_TMC_MS(K)
-#elif HAS_U_AXIS && !TMC_MICROSTEP_IS_VALID(U)
+#elif !TMC_MICROSTEP_IS_VALID(U)
   INVALID_TMC_MS(U)
-#elif HAS_V_AXIS && !TMC_MICROSTEP_IS_VALID(V)
+#elif !TMC_MICROSTEP_IS_VALID(V)
   INVALID_TMC_MS(V)
-#elif HAS_W_AXIS && !TMC_MICROSTEP_IS_VALID(W)
+#elif !TMC_MICROSTEP_IS_VALID(W)
   INVALID_TMC_MS(W)
 #endif
 #undef INVALID_TMC_MS
@@ -3579,67 +3579,43 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE, "Movement bounds (X_MIN_POS, X_MAX_POS
   // towers to +Z and the individual homing of each tower. This restriction can be removed once a means of
   // clearing the stallGuard activated status is found.
 
-  // Stall detection DIAG = HIGH : TMC2209
-  // Stall detection DIAG = LOW  : TMC2130/TMC2160/TMC2660/TMC5130/TMC5160
-  #define X_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(X,TMC2209)
-  #define Y_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(Y,TMC2209)
-  #define Z_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(Z,TMC2209)
-  #if HAS_I_AXIS
-    #define I_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(I,TMC2209)
-  #endif
-  #if HAS_J_AXIS
-    #define J_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(J,TMC2209)
-  #endif
-  #if HAS_K_AXIS
-    #define K_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(K,TMC2209)
-  #endif
-  #if HAS_U_AXIS
-    #define U_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(U,TMC2209)
-  #endif
-  #if HAS_V_AXIS
-    #define V_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(V,TMC2209)
-  #endif
-  #if HAS_W_AXIS
-    #define W_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(W,TMC2209)
-  #endif
-
   #if NONE(SPI_ENDSTOPS, ONBOARD_ENDSTOPPULLUPS, ENDSTOPPULLUPS)
     #if   X_SENSORLESS && X_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_XMIN)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_XMIN (or ENDSTOPPULLUPS) when homing to X_MIN."
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_XMIN (or ENDSTOPPULLUPS) for X_MIN homing."
     #elif X_SENSORLESS && X_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_XMAX)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_XMAX (or ENDSTOPPULLUPS) when homing to X_MAX."
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_XMAX (or ENDSTOPPULLUPS) for X_MAX homing."
     #elif Y_SENSORLESS && Y_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_YMIN)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_YMIN (or ENDSTOPPULLUPS) when homing to Y_MIN."
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_YMIN (or ENDSTOPPULLUPS) for Y_MIN homing."
     #elif Y_SENSORLESS && Y_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_YMAX)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_YMAX (or ENDSTOPPULLUPS) when homing to Y_MAX."
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_YMAX (or ENDSTOPPULLUPS) for Y_MAX homing."
     #elif Z_SENSORLESS && Z_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_ZMIN)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_ZMIN (or ENDSTOPPULLUPS) when homing to Z_MIN."
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_ZMIN (or ENDSTOPPULLUPS) for Z_MIN homing."
     #elif Z_SENSORLESS && Z_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_ZMAX)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_ZMAX (or ENDSTOPPULLUPS) when homing to Z_MAX."
-    #elif ALL(HAS_I_AXIS, I_SENSORLESS, I_HOME_TO_MIN) && DISABLED(ENDSTOPPULLUP_IMIN)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_IMIN (or ENDSTOPPULLUPS) when homing to I_MIN."
-    #elif ALL(HAS_I_AXIS, I_SENSORLESS, I_HOME_TO_MAX) && DISABLED(ENDSTOPPULLUP_IMAX)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_IMAX (or ENDSTOPPULLUPS) when homing to I_MAX."
-    #elif ALL(HAS_J_AXIS, J_SENSORLESS, J_HOME_TO_MIN) && DISABLED(ENDSTOPPULLUP_JMIN)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_JMIN (or ENDSTOPPULLUPS) when homing to J_MIN."
-    #elif ALL(HAS_J_AXIS, J_SENSORLESS, J_HOME_TO_MAX) && DISABLED(ENDSTOPPULLUP_JMAX)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_JMAX (or ENDSTOPPULLUPS) when homing to J_MAX."
-    #elif ALL(HAS_K_AXIS, K_SENSORLESS, K_HOME_TO_MIN) && DISABLED(ENDSTOPPULLUP_KMIN)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMIN (or ENDSTOPPULLUPS) when homing to K_MIN."
-    #elif ALL(HAS_K_AXIS, K_SENSORLESS, K_HOME_TO_MAX) && DISABLED(ENDSTOPPULLUP_KMAX)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMAX (or ENDSTOPPULLUPS) when homing to K_MAX."
-    #elif HAS_U_AXIS && U_SENSORLESS && U_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_UMIN)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_UMIN (or ENDSTOPPULLUPS) when homing to U_MIN."
-    #elif HAS_U_AXIS && U_SENSORLESS && U_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_UMAX)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_UMAX (or ENDSTOPPULLUPS) when homing to U_MAX."
-    #elif HAS_V_AXIS && V_SENSORLESS && V_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_VMIN)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_VMIN (or ENDSTOPPULLUPS) when homing to V_MIN."
-    #elif HAS_V_AXIS && V_SENSORLESS && V_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_VMAX)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_VMAX (or ENDSTOPPULLUPS) when homing to V_MAX."
-    #elif HAS_W_AXIS && W_SENSORLESS && W_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_WMIN)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_WMIN (or ENDSTOPPULLUPS) when homing to W_MIN."
-    #elif HAS_W_AXIS && W_SENSORLESS && W_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_WMAX)
-      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_WMAX (or ENDSTOPPULLUPS) when homing to W_MAX."
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_ZMAX (or ENDSTOPPULLUPS) for Z_MAX homing."
+    #elif I_SENSORLESS && I_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_IMIN)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_IMIN (or ENDSTOPPULLUPS) for I_MIN homing."
+    #elif I_SENSORLESS && I_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_IMAX)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_IMAX (or ENDSTOPPULLUPS) for I_MAX homing."
+    #elif J_SENSORLESS && J_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_JMIN)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_JMIN (or ENDSTOPPULLUPS) for J_MIN homing."
+    #elif J_SENSORLESS && J_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_JMAX)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_JMAX (or ENDSTOPPULLUPS) for J_MAX homing."
+    #elif K_SENSORLESS && K_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_KMIN)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMIN (or ENDSTOPPULLUPS) for K_MIN homing."
+    #elif K_SENSORLESS && K_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_KMAX)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMAX (or ENDSTOPPULLUPS) for K_MAX homing."
+    #elif U_SENSORLESS && U_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_UMIN)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_UMIN (or ENDSTOPPULLUPS) for U_MIN homing."
+    #elif U_SENSORLESS && U_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_UMAX)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_UMAX (or ENDSTOPPULLUPS) for U_MAX homing."
+    #elif V_SENSORLESS && V_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_VMIN)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_VMIN (or ENDSTOPPULLUPS) for V_MIN homing."
+    #elif V_SENSORLESS && V_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_VMAX)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_VMAX (or ENDSTOPPULLUPS) for V_MAX homing."
+    #elif W_SENSORLESS && W_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_WMIN)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_WMIN (or ENDSTOPPULLUPS) for W_MIN homing."
+    #elif W_SENSORLESS && W_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_WMAX)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_WMAX (or ENDSTOPPULLUPS) for W_MAX homing."
 
     #endif
   #endif
@@ -3648,117 +3624,172 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE, "Movement bounds (X_MIN_POS, X_MAX_POS
     #if ENABLED(QUICK_HOME)
       #warning "SPI_ENDSTOPS may be unreliable with QUICK_HOME. Adjust back-offs for better results."
     #endif
-  #else
-    #if X_SENSORLESS && X_HOME_TO_MIN && X_MIN_ENDSTOP_INVERTING != X_ENDSTOP_INVERTING
-      #if X_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires X_MIN_ENDSTOP_INVERTING = true when homing to X_MIN."
-      #else
-        #error "SENSORLESS_HOMING requires X_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to X_MIN."
-      #endif
-    #elif X_SENSORLESS && X_HOME_TO_MAX && X_MAX_ENDSTOP_INVERTING != X_ENDSTOP_INVERTING
-      #if X_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires X_MAX_ENDSTOP_INVERTING = true when homing to X_MAX."
-      #else
-        #error "SENSORLESS_HOMING requires X_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to X_MAX."
-      #endif
-    #elif Y_SENSORLESS && Y_HOME_TO_MIN && Y_MIN_ENDSTOP_INVERTING != Y_ENDSTOP_INVERTING
-      #if Y_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires Y_MIN_ENDSTOP_INVERTING = true when homing to Y_MIN."
-      #else
-        #error "SENSORLESS_HOMING requires Y_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to Y_MIN."
-      #endif
-    #elif Y_SENSORLESS && Y_HOME_TO_MAX && Y_MAX_ENDSTOP_INVERTING != Y_ENDSTOP_INVERTING
-      #if Y_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires Y_MAX_ENDSTOP_INVERTING = true when homing to Y_MAX."
-      #else
-        #error "SENSORLESS_HOMING requires Y_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to Y_MAX."
-      #endif
-    #elif Z_SENSORLESS && Z_HOME_TO_MIN && Z_MIN_ENDSTOP_INVERTING != Z_ENDSTOP_INVERTING
-      #if Z_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires Z_MIN_ENDSTOP_INVERTING = true when homing to Z_MIN."
-      #else
-        #error "SENSORLESS_HOMING requires Z_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to Z_MIN."
-      #endif
-    #elif Z_SENSORLESS && Z_HOME_TO_MAX && Z_MAX_ENDSTOP_INVERTING != Z_ENDSTOP_INVERTING
-      #if Z_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires Z_MAX_ENDSTOP_INVERTING = true when homing to Z_MAX."
-      #else
-        #error "SENSORLESS_HOMING requires Z_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to Z_MAX."
-      #endif
-    #elif ALL(HAS_I_AXIS, I_SENSORLESS, I_HOME_TO_MIN) && I_MIN_ENDSTOP_INVERTING != I_ENDSTOP_INVERTING
-      #if I_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires I_MIN_ENDSTOP_INVERTING = true when homing to I_MIN."
-      #else
-        #error "SENSORLESS_HOMING requires I_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to I_MIN."
-      #endif
-    #elif ALL(HAS_I_AXIS, I_SENSORLESS, I_HOME_TO_MAX) && I_MAX_ENDSTOP_INVERTING != I_ENDSTOP_INVERTING
-      #if I_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires I_MAX_ENDSTOP_INVERTING = true when homing to I_MAX."
-      #else
-        #error "SENSORLESS_HOMING requires I_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to I_MAX."
-      #endif
-    #elif ALL(HAS_J_AXIS, J_SENSORLESS, J_HOME_TO_MIN) && J_MIN_ENDSTOP_INVERTING != J_ENDSTOP_INVERTING
-      #if J_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires J_MIN_ENDSTOP_INVERTING = true when homing to J_MIN."
-      #else
-        #error "SENSORLESS_HOMING requires J_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to J_MIN."
-      #endif
-    #elif ALL(HAS_J_AXIS, J_SENSORLESS, J_HOME_TO_MAX) && J_MAX_ENDSTOP_INVERTING != J_ENDSTOP_INVERTING
-      #if J_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires J_MAX_ENDSTOP_INVERTING = true when homing to J_MAX."
-      #else
-        #error "SENSORLESS_HOMING requires J_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to J_MAX."
+  #else // !SPI_ENDSTOPS
+    // Stall detection DIAG = HIGH : TMC2209
+    // Stall detection DIAG = LOW  : TMC2130/TMC2160/TMC2660/TMC5130/TMC5160
+    #if X_SENSORLESS
+      #define _HIT_STATE AXIS_DRIVER_TYPE(X,TMC2209)
+      #if X_HOME_TO_MIN && X_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires X_MIN_ENDSTOP_HIT_STATE LOW for X_MIN homing."
+        #else
+          #error "SENSORLESS_HOMING requires X_MIN_ENDSTOP_HIT_STATE HIGH for X_MIN homing with TMC2209."
+        #endif
+      #elif X_HOME_TO_MAX && X_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires X_MAX_ENDSTOP_HIT_STATE LOW for X_MAX homing."
+        #else
+          #error "SENSORLESS_HOMING requires X_MAX_ENDSTOP_HIT_STATE HIGH for X_MAX homing with TMC2209."
+        #endif
       #endif
-    #elif ALL(HAS_K_AXIS, K_SENSORLESS, K_HOME_TO_MIN) && K_MIN_ENDSTOP_INVERTING != K_ENDSTOP_INVERTING
-      #if K_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires K_MIN_ENDSTOP_INVERTING = true when homing to K_MIN."
-      #else
-        #error "SENSORLESS_HOMING requires K_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to K_MIN."
+      #undef _HIT_STATE
+    #endif
+
+    #if Y_SENSORLESS
+      #define _HIT_STATE AXIS_DRIVER_TYPE(Y,TMC2209)
+      #if Y_HOME_TO_MIN && Y_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires Y_MIN_ENDSTOP_HIT_STATE LOW for Y_MIN homing."
+        #else
+          #error "SENSORLESS_HOMING requires Y_MIN_ENDSTOP_HIT_STATE HIGH for Y_MIN homing with TMC2209."
+        #endif
+      #elif Y_HOME_TO_MAX && Y_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires Y_MAY_ENDSTOP_HIT_STATE LOW for Y_MAX homing."
+        #else
+          #error "SENSORLESS_HOMING requires Y_MAY_ENDSTOP_HIT_STATE HIGH for Y_MAX homing with TMC2209."
+        #endif
       #endif
-    #elif ALL(HAS_K_AXIS, K_SENSORLESS, K_HOME_TO_MAX) && K_MAX_ENDSTOP_INVERTING != K_ENDSTOP_INVERTING
-      #if K_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires K_MAX_ENDSTOP_INVERTING = true when homing to K_MAX."
-      #else
-        #error "SENSORLESS_HOMING requires K_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to K_MAX."
+      #undef _HIT_STATE
+    #endif
+
+    #if Z_SENSORLESS
+      #define _HIT_STATE AXIS_DRIVER_TYPE(Z,TMC2209)
+      #if Z_HOME_TO_MIN && Z_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires Z_MIN_ENDSTOP_HIT_STATE LOW for Z_MIN homing."
+        #else
+          #error "SENSORLESS_HOMING requires Z_MIN_ENDSTOP_HIT_STATE HIGH for Z_MIN homing with TMC2209."
+        #endif
+      #elif Z_HOME_TO_MAX && Z_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires Z_MAZ_ENDSTOP_HIT_STATE LOW for Z_MAX homing."
+        #else
+          #error "SENSORLESS_HOMING requires Z_MAZ_ENDSTOP_HIT_STATE HIGH for Z_MAX homing with TMC2209."
+        #endif
       #endif
-    #elif ALL(HAS_U_AXIS, U_SENSORLESS, U_HOME_TO_MIN) && U_MIN_ENDSTOP_INVERTING != U_ENDSTOP_INVERTING
-      #if U_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires U_MIN_ENDSTOP_INVERTING = true when homing to U_MIN."
-      #else
-        #error "SENSORLESS_HOMING requires U_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to U_MIN."
+      #undef _HIT_STATE
+    #endif
+
+    #if I_SENSORLESS
+      #define _HIT_STATE AXIS_DRIVER_TYPE(I,TMC2209)
+      #if I_HOME_TO_MIN && I_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires I_MIN_ENDSTOP_HIT_STATE LOW for I_MIN homing."
+        #else
+          #error "SENSORLESS_HOMING requires I_MIN_ENDSTOP_HIT_STATE HIGH for I_MIN homing with TMC2209."
+        #endif
+      #elif I_HOME_TO_MAX && I_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires I_MAI_ENDSTOP_HIT_STATE LOW for I_MAX homing."
+        #else
+          #error "SENSORLESS_HOMING requires I_MAI_ENDSTOP_HIT_STATE HIGH for I_MAX homing with TMC2209."
+        #endif
       #endif
-    #elif ALL(HAS_U_AXIS, U_SENSORLESS, U_HOME_TO_MAX) && U_MAX_ENDSTOP_INVERTING != U_ENDSTOP_INVERTING
-      #if U_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires U_MAX_ENDSTOP_INVERTING = true when homing to U_MAX."
-      #else
-        #error "SENSORLESS_HOMING requires U_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to U_MAX."
+      #undef _HIT_STATE
+    #endif
+
+    #if J_SENSORLESS
+      #define _HIT_STATE AXIS_DRIVER_TYPE(J,TMC2209)
+      #if J_HOME_TO_MIN && J_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires J_MIN_ENDSTOP_HIT_STATE LOW for J_MIN homing."
+        #else
+          #error "SENSORLESS_HOMING requires J_MIN_ENDSTOP_HIT_STATE HIGH for J_MIN homing with TMC2209."
+        #endif
+      #elif J_HOME_TO_MAX && J_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires J_MAJ_ENDSTOP_HIT_STATE LOW for J_MAX homing."
+        #else
+          #error "SENSORLESS_HOMING requires J_MAJ_ENDSTOP_HIT_STATE HIGH for J_MAX homing with TMC2209."
+        #endif
       #endif
-    #elif ALL(HAS_V_AXIS, V_SENSORLESS, V_HOME_TO_MIN) && V_MIN_ENDSTOP_INVERTING != V_ENDSTOP_INVERTING
-      #if V_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires V_MIN_ENDSTOP_INVERTING = true when homing to V_MIN."
-      #else
-        #error "SENSORLESS_HOMING requires V_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to V_MIN."
+      #undef _HIT_STATE
+    #endif
+
+    #if K_SENSORLESS
+      #define _HIT_STATE AXIS_DRIVER_TYPE(K,TMC2209)
+      #if K_HOME_TO_MIN && K_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires K_MIN_ENDSTOP_HIT_STATE LOW for K_MIN homing."
+        #else
+          #error "SENSORLESS_HOMING requires K_MIN_ENDSTOP_HIT_STATE HIGH for K_MIN homing with TMC2209."
+        #endif
+      #elif K_HOME_TO_MAX && K_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires K_MAK_ENDSTOP_HIT_STATE LOW for K_MAX homing."
+        #else
+          #error "SENSORLESS_HOMING requires K_MAK_ENDSTOP_HIT_STATE HIGH for K_MAX homing with TMC2209."
+        #endif
       #endif
-    #elif ALL(HAS_V_AXIS, V_SENSORLESS, V_HOME_TO_MAX) && V_MAX_ENDSTOP_INVERTING != V_ENDSTOP_INVERTING
-      #if V_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires V_MAX_ENDSTOP_INVERTING = true when homing to V_MAX."
-      #else
-        #error "SENSORLESS_HOMING requires V_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to V_MAX."
+      #undef _HIT_STATE
+    #endif
+
+    #if U_SENSORLESS
+      #define _HIT_STATE AXIS_DRIVER_TYPE(U,TMC2209)
+      #if U_HOME_TO_MIN && U_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires U_MIN_ENDSTOP_HIT_STATE LOW for U_MIN homing."
+        #else
+          #error "SENSORLESS_HOMING requires U_MIN_ENDSTOP_HIT_STATE HIGH for U_MIN homing with TMC2209."
+        #endif
+      #elif U_HOME_TO_MAX && U_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires U_MAU_ENDSTOP_HIT_STATE LOW for U_MAX homing."
+        #else
+          #error "SENSORLESS_HOMING requires U_MAU_ENDSTOP_HIT_STATE HIGH for U_MAX homing with TMC2209."
+        #endif
       #endif
-    #elif ALL(HAS_W_AXIS, W_SENSORLESS, W_HOME_TO_MIN) && W_MIN_ENDSTOP_INVERTING != W_ENDSTOP_INVERTING
-      #if W_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires W_MIN_ENDSTOP_INVERTING = true when homing to W_MIN."
-      #else
-        #error "SENSORLESS_HOMING requires W_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to W_MIN."
+      #undef _HIT_STATE
+    #endif
+
+    #if V_SENSORLESS
+      #define _HIT_STATE AXIS_DRIVER_TYPE(V,TMC2209)
+      #if V_HOME_TO_MIN && V_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires V_MIN_ENDSTOP_HIT_STATE LOW for V_MIN homing."
+        #else
+          #error "SENSORLESS_HOMING requires V_MIN_ENDSTOP_HIT_STATE HIGH for V_MIN homing with TMC2209."
+        #endif
+      #elif V_HOME_TO_MAX && V_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires V_MAV_ENDSTOP_HIT_STATE LOW for V_MAX homing."
+        #else
+          #error "SENSORLESS_HOMING requires V_MAV_ENDSTOP_HIT_STATE HIGH for V_MAX homing with TMC2209."
+        #endif
       #endif
-    #elif ALL(HAS_W_AXIS, W_SENSORLESS, W_HOME_TO_MAX0) && W_MAX_ENDSTOP_INVERTING != W_ENDSTOP_INVERTING
-      #if W_ENDSTOP_INVERTING
-        #error "SENSORLESS_HOMING requires W_MAX_ENDSTOP_INVERTING = true when homing to W_MAX."
-      #else
-        #error "SENSORLESS_HOMING requires W_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to W_MAX."
+      #undef _HIT_STATE
+    #endif
+
+    #if W_SENSORLESS
+      #define _HIT_STATE AXIS_DRIVER_TYPE(W,TMC2209)
+      #if W_HOME_TO_MIN && W_MIN_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires W_MIN_ENDSTOP_HIT_STATE LOW for W_MIN homing."
+        #else
+          #error "SENSORLESS_HOMING requires W_MIN_ENDSTOP_HIT_STATE HIGH for W_MIN homing with TMC2209."
+        #endif
+      #elif W_HOME_TO_MAX && W_MAX_ENDSTOP_HIT_STATE != _HIT_STATE
+        #if _HIT_STATE
+          #error "SENSORLESS_HOMING requires W_MAW_ENDSTOP_HIT_STATE LOW for W_MAX homing."
+        #else
+          #error "SENSORLESS_HOMING requires W_MAW_ENDSTOP_HIT_STATE HIGH for W_MAX homing with TMC2209."
+        #endif
       #endif
+      #undef _HIT_STATE
     #endif
-  #endif
+
+  #endif // !SPI_ENDSTOPS
 
   #if ENABLED(DELTA) && !BOTH(STEALTHCHOP_XY, STEALTHCHOP_Z)
     #error "SENSORLESS_HOMING on DELTA currently requires STEALTHCHOP_XY and STEALTHCHOP_Z."
@@ -3768,15 +3799,6 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE, "Movement bounds (X_MIN_POS, X_MAX_POS
     #error "SENSORLESS_HOMING requires a TMC stepper driver with StallGuard on X, Y, Z, I, J, K, U, V, or W axes."
   #endif
 
-  #undef X_ENDSTOP_INVERTING
-  #undef Y_ENDSTOP_INVERTING
-  #undef Z_ENDSTOP_INVERTING
-  #undef I_ENDSTOP_INVERTING
-  #undef J_ENDSTOP_INVERTING
-  #undef K_ENDSTOP_INVERTING
-  #undef U_ENDSTOP_INVERTING
-  #undef V_ENDSTOP_INVERTING
-  #undef W_ENDSTOP_INVERTING
 #endif
 
 // Sensorless probing requirements

Marlin/src/lcd/e3v2/proui/endstop_diag.cpp

@@ -89,7 +89,7 @@ void ESDiagClass::Draw() {
 
 void ESDiagClass::Update() {
   DWINUI::cursor.y = 80;
-  #define ES_REPORT(S) draw_es_state(READ(S##_PIN) != S##_ENDSTOP_INVERTING)
+  #define ES_REPORT(S) draw_es_state(READ(S##_PIN) == S##_ENDSTOP_HIT_STATE)
   #if HAS_X_MIN
     ES_REPORT(X_MIN);
   #endif

Marlin/src/lcd/extui/ftdi_eve_touch_ui/generic/endstop_state_screen.cpp

@@ -41,7 +41,7 @@ void EndstopStatesScreen::onExit() {
 #define GRID_ROWS 7
 
 #define PIN_BTN(X,Y,PIN,LABEL)          button(BTN_POS(X,Y), BTN_SIZE(2,1), LABEL)
-#define PIN_ENABLED(X,Y,LABEL,PIN,INV)  cmd.enabled(1).colors(READ(PIN##_PIN) != INV ? action_btn : normal_btn).PIN_BTN(X,Y,PIN,LABEL);
+#define PIN_ENABLED(X,Y,LABEL,PIN,ST)   cmd.enabled(1).colors(READ(PIN##_PIN) == ST ? action_btn : normal_btn).PIN_BTN(X,Y,PIN,LABEL);
 #define PIN_DISABLED(X,Y,LABEL,PIN)     cmd.enabled(0).PIN_BTN(X,Y,PIN,LABEL);
 
 void EndstopStatesScreen::onRedraw(draw_mode_t) {
@@ -55,32 +55,32 @@ void EndstopStatesScreen::onRedraw(draw_mode_t) {
   .text(BTN_POS(1,1), BTN_SIZE(6,1), GET_TEXT_F(MSG_LCD_ENDSTOPS))
   .font(font_tiny);
   #if HAS_X_MAX
-    PIN_ENABLED (1, 2, PSTR(STR_X_MAX), X_MAX, X_MAX_ENDSTOP_INVERTING)
+    PIN_ENABLED (1, 2, PSTR(STR_X_MAX), X_MAX, X_MAX_ENDSTOP_HIT_STATE)
   #else
     PIN_DISABLED(1, 2, PSTR(STR_X_MAX), X_MAX)
   #endif
   #if HAS_Y_MAX
-    PIN_ENABLED (3, 2, PSTR(STR_Y_MAX), Y_MAX, Y_MAX_ENDSTOP_INVERTING)
+    PIN_ENABLED (3, 2, PSTR(STR_Y_MAX), Y_MAX, Y_MAX_ENDSTOP_HIT_STATE)
   #else
     PIN_DISABLED(3, 2, PSTR(STR_Y_MAX), Y_MAX)
   #endif
   #if HAS_Z_MAX
-    PIN_ENABLED (5, 2, PSTR(STR_Z_MAX), Z_MAX, Z_MAX_ENDSTOP_INVERTING)
+    PIN_ENABLED (5, 2, PSTR(STR_Z_MAX), Z_MAX, Z_MAX_ENDSTOP_HIT_STATE)
   #else
     PIN_DISABLED(5, 2, PSTR(STR_Z_MAX), Z_MAX)
   #endif
   #if HAS_X_MIN
-    PIN_ENABLED (1, 3, PSTR(STR_X_MIN), X_MIN, X_MIN_ENDSTOP_INVERTING)
+    PIN_ENABLED (1, 3, PSTR(STR_X_MIN), X_MIN, X_MIN_ENDSTOP_HIT_STATE)
   #else
     PIN_DISABLED(1, 3, PSTR(STR_X_MIN), X_MIN)
   #endif
   #if HAS_Y_MIN
-    PIN_ENABLED (3, 3, PSTR(STR_Y_MIN), Y_MIN, Y_MIN_ENDSTOP_INVERTING)
+    PIN_ENABLED (3, 3, PSTR(STR_Y_MIN), Y_MIN, Y_MIN_ENDSTOP_HIT_STATE)
   #else
     PIN_DISABLED(3, 3, PSTR(STR_Y_MIN), Y_MIN)
   #endif
   #if HAS_Z_MIN
-    PIN_ENABLED (5, 3, PSTR(STR_Z_MIN), Z_MIN, Z_MIN_ENDSTOP_INVERTING)
+    PIN_ENABLED (5, 3, PSTR(STR_Z_MIN), Z_MIN, Z_MIN_ENDSTOP_HIT_STATE)
   #else
     PIN_DISABLED(5, 3, PSTR(STR_Z_MIN), Z_MIN)
   #endif
@@ -95,7 +95,7 @@ void EndstopStatesScreen::onRedraw(draw_mode_t) {
     PIN_DISABLED(3, 4, GET_TEXT_F(MSG_RUNOUT_2), FIL_RUNOUT2)
   #endif
   #if PIN_EXISTS(Z_MIN_PROBE)
-    PIN_ENABLED (5, 4, PSTR(STR_Z_PROBE), Z_MIN_PROBE, Z_MIN_PROBE_ENDSTOP_INVERTING)
+    PIN_ENABLED (5, 4, PSTR(STR_Z_PROBE), Z_MIN_PROBE, Z_MIN_PROBE_ENDSTOP_HIT_STATE)
   #else
     PIN_DISABLED(5, 4, PSTR(STR_Z_PROBE), Z_MIN_PROBE)
   #endif

Marlin/src/lcd/extui/mks_ui/mks_hardware.cpp

@@ -76,7 +76,7 @@
     constexpr static bool endstopz2_sta = true;
   #endif
 
-  #define ESTATE(S) (READ(S##_PIN) != S##_ENDSTOP_INVERTING)
+  #define ESTATE(S) (READ(S##_PIN) == S##_ENDSTOP_HIT_STATE)
 
   void test_gpio_readlevel_L() {
     WRITE(WIFI_IO0_PIN, HIGH);

Marlin/src/lcd/extui/nextion/nextion_tft.cpp

@@ -431,27 +431,27 @@ void NextionTFT::PanelInfo(uint8_t req) {
 
   case 36: // Endstop Info
     #if X_HOME_TO_MIN
-      SEND_VALasTXT("x1", READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING ? "triggered" : "open");
+      SEND_VALasTXT("x1", READ(X_MIN_PIN) == X_MIN_ENDSTOP_HIT_STATE ? "triggered" : "open");
     #elif X_HOME_TO_MAX
-      SEND_VALasTXT("x2", READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING ? "triggered" : "open");
+      SEND_VALasTXT("x2", READ(X_MAX_PIN) == X_MAX_ENDSTOP_HIT_STATE ? "triggered" : "open");
     #endif
     #if Y_HOME_TO_MIN
-      SEND_VALasTXT("y1", READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING ? "triggered" : "open");
+      SEND_VALasTXT("y1", READ(Y_MIN_PIN) == Y_MIN_ENDSTOP_HIT_STATE ? "triggered" : "open");
     #elif Y_HOME_TO_MAX
-      SEND_VALasTXT("y2", READ(X_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING ? "triggered" : "open");
+      SEND_VALasTXT("y2", READ(X_MAX_PIN) == Y_MAX_ENDSTOP_HIT_STATE ? "triggered" : "open");
     #endif
     #if Z_HOME_TO_MIN
-      SEND_VALasTXT("z1", READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING ? "triggered" : "open");
+      SEND_VALasTXT("z1", READ(Z_MIN_PIN) == Z_MIN_ENDSTOP_HIT_STATE ? "triggered" : "open");
     #elif Z_HOME_TO_MAX
-      SEND_VALasTXT("z2", READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING ? "triggered" : "open");
+      SEND_VALasTXT("z2", READ(Z_MAX_PIN) == Z_MAX_ENDSTOP_HIT_STATE ? "triggered" : "open");
     #endif
     #if HAS_Z2_MIN
-      SEND_VALasTXT("z2", READ(Z2_MIN_PIN) != Z2_MIN_ENDSTOP_INVERTING ? "triggered" : "open");
+      SEND_VALasTXT("z2", READ(Z2_MIN_PIN) == Z2_MIN_ENDSTOP_HIT_STATE ? "triggered" : "open");
     #elif HAS_Z2_MAX
-      SEND_VALasTXT("z2", READ(Z2_MAX_PIN) != Z2_MAX_ENDSTOP_INVERTING ? "triggered" : "open");
+      SEND_VALasTXT("z2", READ(Z2_MAX_PIN) == Z2_MAX_ENDSTOP_HIT_STATE ? "triggered" : "open");
     #endif
     #if HAS_BED_PROBE
-      //SEND_VALasTXT("bltouch", READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING ? "triggered" : "open");
+      //SEND_VALasTXT("bltouch", READ(Z_MIN_PROBE_PIN) == Z_MIN_PROBE_ENDSTOP_HIT_STATE ? "triggered" : "open");
     #else
       SEND_NA("bltouch");
     #endif

Marlin/src/module/endstops.cpp

@@ -109,284 +109,90 @@ Endstops::endstop_mask_t Endstops::live_state = 0;
 
 void Endstops::init() {
 
+  #define _INIT_ENDSTOP(T,A,N) TERN(ENDSTOPPULLUP_##A##T, SET_INPUT_PULLUP, TERN(ENDSTOPPULLDOWN_##A##T, SET_INPUT_PULLDOWN, SET_INPUT))(A##N##_##T##_PIN)
   #if HAS_X_MIN
-    #if ENABLED(ENDSTOPPULLUP_XMIN)
-      SET_INPUT_PULLUP(X_MIN_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_XMIN)
-      SET_INPUT_PULLDOWN(X_MIN_PIN);
-    #else
-      SET_INPUT(X_MIN_PIN);
-    #endif
-  #endif
-
-  #if HAS_X2_MIN
-    #if ENABLED(ENDSTOPPULLUP_XMIN)
-      SET_INPUT_PULLUP(X2_MIN_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_XMIN)
-      SET_INPUT_PULLDOWN(X2_MIN_PIN);
-    #else
-      SET_INPUT(X2_MIN_PIN);
-    #endif
-  #endif
-
-  #if HAS_Y_MIN
-    #if ENABLED(ENDSTOPPULLUP_YMIN)
-      SET_INPUT_PULLUP(Y_MIN_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_YMIN)
-      SET_INPUT_PULLDOWN(Y_MIN_PIN);
-    #else
-      SET_INPUT(Y_MIN_PIN);
-    #endif
-  #endif
-
-  #if HAS_Y2_MIN
-    #if ENABLED(ENDSTOPPULLUP_YMIN)
-      SET_INPUT_PULLUP(Y2_MIN_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_YMIN)
-      SET_INPUT_PULLDOWN(Y2_MIN_PIN);
-    #else
-      SET_INPUT(Y2_MIN_PIN);
-    #endif
-  #endif
-
-  #if HAS_Z_MIN
-    #if ENABLED(ENDSTOPPULLUP_ZMIN)
-      SET_INPUT_PULLUP(Z_MIN_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_ZMIN)
-      SET_INPUT_PULLDOWN(Z_MIN_PIN);
-    #else
-      SET_INPUT(Z_MIN_PIN);
-    #endif
-  #endif
-
-  #if HAS_Z2_MIN
-    #if ENABLED(ENDSTOPPULLUP_ZMIN)
-      SET_INPUT_PULLUP(Z2_MIN_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_ZMIN)
-      SET_INPUT_PULLDOWN(Z2_MIN_PIN);
-    #else
-      SET_INPUT(Z2_MIN_PIN);
-    #endif
-  #endif
-
-  #if HAS_Z3_MIN
-    #if ENABLED(ENDSTOPPULLUP_ZMIN)
-      SET_INPUT_PULLUP(Z3_MIN_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_ZMIN)
-      SET_INPUT_PULLDOWN(Z3_MIN_PIN);
-    #else
-      SET_INPUT(Z3_MIN_PIN);
-    #endif
-  #endif
-
-  #if HAS_Z4_MIN
-    #if ENABLED(ENDSTOPPULLUP_ZMIN)
-      SET_INPUT_PULLUP(Z4_MIN_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_ZMIN)
-      SET_INPUT_PULLDOWN(Z4_MIN_PIN);
-    #else
-      SET_INPUT(Z4_MIN_PIN);
-    #endif
+    _INIT_ENDSTOP(MIN,X,);
   #endif
-
   #if HAS_X_MAX
-    #if ENABLED(ENDSTOPPULLUP_XMAX)
-      SET_INPUT_PULLUP(X_MAX_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_XMAX)
-      SET_INPUT_PULLDOWN(X_MAX_PIN);
-    #else
-      SET_INPUT(X_MAX_PIN);
-    #endif
+    _INIT_ENDSTOP(MAX,X,);
+  #endif
+  #if HAS_X2_MIN
+    _INIT_ENDSTOP(MIN,X,2);
   #endif
-
   #if HAS_X2_MAX
-    #if ENABLED(ENDSTOPPULLUP_XMAX)
-      SET_INPUT_PULLUP(X2_MAX_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_XMAX)
-      SET_INPUT_PULLDOWN(X2_MAX_PIN);
-    #else
-      SET_INPUT(X2_MAX_PIN);
-    #endif
+    _INIT_ENDSTOP(MAX,X,2);
+  #endif
+  #if HAS_Y_MIN
+    _INIT_ENDSTOP(MIN,Y,);
   #endif
-
   #if HAS_Y_MAX
-    #if ENABLED(ENDSTOPPULLUP_YMAX)
-      SET_INPUT_PULLUP(Y_MAX_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_YMAX)
-      SET_INPUT_PULLDOWN(Y_MAX_PIN);
-    #else
-      SET_INPUT(Y_MAX_PIN);
-    #endif
+    _INIT_ENDSTOP(MAX,Y,);
+  #endif
+  #if HAS_Y2_MIN
+    _INIT_ENDSTOP(MIN,Y,2);
   #endif
-
   #if HAS_Y2_MAX
-    #if ENABLED(ENDSTOPPULLUP_YMAX)
-      SET_INPUT_PULLUP(Y2_MAX_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_YMAX)
-      SET_INPUT_PULLDOWN(Y2_MAX_PIN);
-    #else
-      SET_INPUT(Y2_MAX_PIN);
-    #endif
+    _INIT_ENDSTOP(MAX,Y,2);
+  #endif
+  #if HAS_Z_MIN
+    _INIT_ENDSTOP(MIN,Z,);
   #endif
-
   #if HAS_Z_MAX
-    #if ENABLED(ENDSTOPPULLUP_ZMAX)
-      SET_INPUT_PULLUP(Z_MAX_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_ZMAX)
-      SET_INPUT_PULLDOWN(Z_MAX_PIN);
-    #else
-      SET_INPUT(Z_MAX_PIN);
-    #endif
+    _INIT_ENDSTOP(MAX,Z,);
+  #endif
+  #if HAS_Z2_MIN
+    _INIT_ENDSTOP(MIN,Z,2);
   #endif
-
   #if HAS_Z2_MAX
-    #if ENABLED(ENDSTOPPULLUP_ZMAX)
-      SET_INPUT_PULLUP(Z2_MAX_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_ZMAX)
-      SET_INPUT_PULLDOWN(Z2_MAX_PIN);
-    #else
-      SET_INPUT(Z2_MAX_PIN);
-    #endif
+    _INIT_ENDSTOP(MAX,Z,2);
+  #endif
+  #if HAS_Z3_MIN
+    _INIT_ENDSTOP(MIN,Z,3);
   #endif
-
   #if HAS_Z3_MAX
-    #if ENABLED(ENDSTOPPULLUP_ZMAX)
-      SET_INPUT_PULLUP(Z3_MAX_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_ZMAX)
-      SET_INPUT_PULLDOWN(Z3_MAX_PIN);
-    #else
-      SET_INPUT(Z3_MAX_PIN);
-    #endif
+    _INIT_ENDSTOP(MAX,Z,3);
+  #endif
+  #if HAS_Z4_MIN
+    _INIT_ENDSTOP(MIN,Z,4);
   #endif
-
   #if HAS_Z4_MAX
-    #if ENABLED(ENDSTOPPULLUP_ZMAX)
-      SET_INPUT_PULLUP(Z4_MAX_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_ZMAX)
-      SET_INPUT_PULLDOWN(Z4_MAX_PIN);
-    #else
-      SET_INPUT(Z4_MAX_PIN);
-    #endif
+    _INIT_ENDSTOP(MAX,Z,4);
   #endif
-
   #if HAS_I_MIN
-    #if ENABLED(ENDSTOPPULLUP_IMIN)
-      SET_INPUT_PULLUP(I_MIN_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_IMIN)
-      SET_INPUT_PULLDOWN(I_MIN_PIN);
-    #else
-      SET_INPUT(I_MIN_PIN);
-    #endif
+    _INIT_ENDSTOP(MIN,I,);
   #endif
-
   #if HAS_I_MAX
-    #if ENABLED(ENDSTOPPULLUP_IMAX)
-      SET_INPUT_PULLUP(I_MAX_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_IMAX)
-      SET_INPUT_PULLDOWN(I_MAX_PIN);
-    #else
-      SET_INPUT(I_MAX_PIN);
-    #endif
+    _INIT_ENDSTOP(MAX,I,);
   #endif
-
   #if HAS_J_MIN
-    #if ENABLED(ENDSTOPPULLUP_JMIN)
-      SET_INPUT_PULLUP(J_MIN_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_IMIN)
-      SET_INPUT_PULLDOWN(J_MIN_PIN);
-    #else
-      SET_INPUT(J_MIN_PIN);
-    #endif
+    _INIT_ENDSTOP(MIN,J,);
   #endif
-
   #if HAS_J_MAX
-    #if ENABLED(ENDSTOPPULLUP_JMAX)
-      SET_INPUT_PULLUP(J_MAX_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_JMAX)
-      SET_INPUT_PULLDOWN(J_MAX_PIN);
-    #else
-      SET_INPUT(J_MAX_PIN);
-    #endif
+    _INIT_ENDSTOP(MAX,J,);
   #endif
-
   #if HAS_K_MIN
-    #if ENABLED(ENDSTOPPULLUP_KMIN)
-      SET_INPUT_PULLUP(K_MIN_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_KMIN)
-      SET_INPUT_PULLDOWN(K_MIN_PIN);
-    #else
-      SET_INPUT(K_MIN_PIN);
-    #endif
+    _INIT_ENDSTOP(MIN,K,);
   #endif
-
   #if HAS_K_MAX
-    #if ENABLED(ENDSTOPPULLUP_KMAX)
-      SET_INPUT_PULLUP(K_MAX_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_KMIN)
-      SET_INPUT_PULLDOWN(K_MAX_PIN);
-    #else
-      SET_INPUT(K_MAX_PIN);
-    #endif
+    _INIT_ENDSTOP(MAX,K,);
   #endif
-
   #if HAS_U_MIN
-    #if ENABLED(ENDSTOPPULLUP_UMIN)
-      SET_INPUT_PULLUP(U_MIN_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_UMIN)
-      SET_INPUT_PULLDOWN(U_MIN_PIN);
-    #else
-      SET_INPUT(U_MIN_PIN);
-    #endif
+    _INIT_ENDSTOP(MIN,U,);
   #endif
-
   #if HAS_U_MAX
-    #if ENABLED(ENDSTOPPULLUP_UMAX)
-      SET_INPUT_PULLUP(U_MAX_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_UMIN)
-      SET_INPUT_PULLDOWN(U_MAX_PIN);
-    #else
-      SET_INPUT(U_MAX_PIN);
-    #endif
+    _INIT_ENDSTOP(MAX,U,);
   #endif
-
   #if HAS_V_MIN
-    #if ENABLED(ENDSTOPPULLUP_VMIN)
-      SET_INPUT_PULLUP(V_MIN_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_VMIN)
-      SET_INPUT_PULLDOWN(V_MIN_PIN);
-    #else
-      SET_INPUT(V_MIN_PIN);
-    #endif
+    _INIT_ENDSTOP(MIN,V,);
   #endif
-
   #if HAS_V_MAX
-    #if ENABLED(ENDSTOPPULLUP_VMAX)
-      SET_INPUT_PULLUP(V_MAX_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_VMIN)
-      SET_INPUT_PULLDOWN(V_MAX_PIN);
-    #else
-      SET_INPUT(V_MAX_PIN);
-    #endif
+    _INIT_ENDSTOP(MAX,V,);
   #endif
-
   #if HAS_W_MIN
-    #if ENABLED(ENDSTOPPULLUP_WMIN)
-      SET_INPUT_PULLUP(W_MIN_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_WMIN)
-      SET_INPUT_PULLDOWN(W_MIN_PIN);
-    #else
-      SET_INPUT(W_MIN_PIN);
-    #endif
+    _INIT_ENDSTOP(MIN,W,);
   #endif
-
   #if HAS_W_MAX
-    #if ENABLED(ENDSTOPPULLUP_WMAX)
-      SET_INPUT_PULLUP(W_MAX_PIN);
-    #elif ENABLED(ENDSTOPPULLDOWN_WMIN)
-      SET_INPUT_PULLDOWN(W_MAX_PIN);
-    #else
-      SET_INPUT(W_MAX_PIN);
-    #endif
+    _INIT_ENDSTOP(MAX,W,);
   #endif
 
   #if PIN_EXISTS(CALIBRATION)
@@ -577,7 +383,7 @@ static void print_es_state(const bool is_hit, FSTR_P const flabel=nullptr) {
 void __O2 Endstops::report_states() {
   TERN_(BLTOUCH, bltouch._set_SW_mode());
   SERIAL_ECHOLNPGM(STR_M119_REPORT);
-  #define ES_REPORT(S) print_es_state(READ_ENDSTOP(S##_PIN) != S##_ENDSTOP_INVERTING, F(STR_##S))
+  #define ES_REPORT(S) print_es_state(READ_ENDSTOP(S##_PIN) == S##_ENDSTOP_HIT_STATE, F(STR_##S))
   #if HAS_X_MIN
     ES_REPORT(X_MIN);
   #endif
@@ -693,7 +499,7 @@ void __O2 Endstops::report_states() {
 
 #define __ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
 #define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
-#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
+#define _ENDSTOP_HIT_STATE(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_HIT_STATE
 #define _ENDSTOP(AXIS, MINMAX) __ENDSTOP(AXIS, MINMAX)
 
 /**
@@ -708,7 +514,7 @@ void Endstops::update() {
   #endif
 
   // Macros to update / copy the live_state
-  #define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ_ENDSTOP(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
+  #define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ_ENDSTOP(_ENDSTOP_PIN(AXIS, MINMAX)) == _ENDSTOP_HIT_STATE(AXIS, MINMAX)))
   #define COPY_LIVE_STATE(SRC_BIT, DST_BIT) SET_BIT_TO(live_state, DST_BIT, TEST(live_state, SRC_BIT))
 
   #if ENABLED(G38_PROBE_TARGET) && NONE(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX)