diff --git a/Firmware/MotorControl/endstop.cpp b/Firmware/MotorControl/endstop.cpp
index d0c4f981..ac0ff9a1 100644
--- a/Firmware/MotorControl/endstop.cpp
+++ b/Firmware/MotorControl/endstop.cpp
@@ -10,6 +10,9 @@ static void endstop_cb_wrapper(void* ctx){
 }
 
 void Endstop::update() {
+    uint16_t gpio_pin = get_gpio_pin_by_pin(config_.gpio_num);
+    GPIO_TypeDef* gpio_port = get_gpio_port_by_pin(config_.gpio_num);
+    pin_state_ = HAL_GPIO_ReadPin(gpio_port, gpio_pin);
     if (config_.enabled) {
         float now = axis_->loop_counter_ * current_meas_period;
         if ((now - debounce_timer_) >= (config_.debounce_ms * 0.001f)) {            // Debounce timer expired, take the new pin state
@@ -28,11 +31,7 @@ bool Endstop::getEndstopState() {
 }
 
 void Endstop::endstop_cb() {
-    uint16_t gpio_pin = get_gpio_pin_by_pin(config_.gpio_num);
-    GPIO_TypeDef* gpio_port = get_gpio_port_by_pin(config_.gpio_num);
-
     debounce_timer_ = axis_->loop_counter_ * current_meas_period;
-    pin_state_ = HAL_GPIO_ReadPin(gpio_port, gpio_pin);
 }
 
 void Endstop::set_endstop_enabled(bool enable){
diff --git a/Firmware/MotorControl/endstop.hpp b/Firmware/MotorControl/endstop.hpp
index 747422a8..6e9cb46f 100644
--- a/Firmware/MotorControl/endstop.hpp
+++ b/Firmware/MotorControl/endstop.hpp
@@ -23,6 +23,7 @@ class Endstop {
 
     bool getEndstopState();
 
+
     bool endstop_state_ = false;
     
     auto make_protocol_definitions(){
@@ -41,6 +42,6 @@ class Endstop {
    private:
     
     bool pin_state_ = false;
-    float debounce_timer_ = 0;
+    volatile float debounce_timer_ = 0;
 };
 #endif
\ No newline at end of file