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diff --git a/Marlin/src/gcode/control/M211.cpp b/Marlin/src/gcode/control/M211.cpp
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+++ b/Marlin/src/gcode/control/M211.cpp
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_SOFTWARE_ENDSTOPS
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+
+/**
+ * M211: Enable, Disable, and/or Report software endstops
+ *
+ * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
+ */
+void GcodeSuite::M211() {
+  const xyz_pos_t l_soft_min = soft_endstop.min.asLogical(),
+                  l_soft_max = soft_endstop.max.asLogical();
+  SERIAL_ECHO_START();
+  SERIAL_ECHOPGM(STR_SOFT_ENDSTOPS);
+  if (parser.seen('S')) soft_endstop._enabled = parser.value_bool();
+  serialprint_onoff(soft_endstop._enabled);
+  print_xyz(l_soft_min, PSTR(STR_SOFT_MIN), PSTR(" "));
+  print_xyz(l_soft_max, PSTR(STR_SOFT_MAX));
+}
+
+#endif