diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py
index 05822c01..48759752 100644
--- a/klippy/extras/bltouch.py
+++ b/klippy/extras/bltouch.py
@@ -116,7 +116,8 @@ class BLTouchEndstopWrapper:
         self.mcu_endstop.home_start(self.action_end_time, ENDSTOP_SAMPLE_TIME,
                                     ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME,
                                     triggered=triggered)
-        return self.mcu_endstop.home_wait(self.action_end_time + 0.100)
+        trigger_time = self.mcu_endstop.home_wait(self.action_end_time + 0.100)
+        return trigger_time > 0.
     def raise_probe(self):
         self.sync_mcu_print_time()
         if not self.pin_up_not_triggered:
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py
index dc7acd62..67a19513 100644
--- a/klippy/extras/homing.py
+++ b/klippy/extras/homing.py
@@ -76,9 +76,11 @@ class HomingMove:
         # Wait for endstops to trigger
         move_end_print_time = self.toolhead.get_last_move_time()
         for mcu_endstop, name in self.endstops:
-            did_trigger = mcu_endstop.home_wait(move_end_print_time)
-            if not did_trigger and check_triggered and error is None:
-                error = "Failed to home %s: Timeout during homing" % (name,)
+            trigger_time = mcu_endstop.home_wait(move_end_print_time)
+            if trigger_time < 0. and error is None:
+                error = "Communication timeout during homing %s" % (name,)
+            elif not trigger_time and check_triggered and error is None:
+                error = "No trigger on %s after full movement" % (name,)
         # Determine stepper halt positions
         self.toolhead.flush_step_generation()
         self.end_mcu_pos = [(s, name, spos, s.get_mcu_position())
diff --git a/klippy/mcu.py b/klippy/mcu.py
index 83143837..eb1f319f 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -136,6 +136,7 @@ class MCU_endstop:
         self._home_cmd = self._query_cmd = None
         self._mcu.register_config_callback(self._build_config)
         self._trigger_completion = None
+        self._rest_ticks = 0
         ffi_main, ffi_lib = chelper.get_ffi()
         self._trdispatch = ffi_main.gc(ffi_lib.trdispatch_alloc(), ffi_lib.free)
         self._trsync = MCU_trsync(mcu, self._trdispatch)
@@ -169,6 +170,7 @@ class MCU_endstop:
                    triggered=True):
         clock = self._mcu.print_time_to_clock(print_time)
         rest_ticks = self._mcu.print_time_to_clock(print_time+rest_time) - clock
+        self._rest_ticks = rest_ticks
         reactor = self._mcu.get_printer().get_reactor()
         self._trigger_completion = reactor.completion()
         etrsync = self._trsync
@@ -190,7 +192,15 @@ class MCU_endstop:
         ffi_main, ffi_lib = chelper.get_ffi()
         ffi_lib.trdispatch_stop(self._trdispatch)
         res = etrsync.stop()
-        return res == etrsync.REASON_ENDSTOP_HIT
+        if res == etrsync.REASON_COMMS_TIMEOUT:
+            return -1.
+        if res != etrsync.REASON_ENDSTOP_HIT:
+            return 0.
+        if self._mcu.is_fileoutput():
+            return home_end_time
+        params = self._query_cmd.send([self._oid])
+        next_clock = self._mcu.clock32_to_clock64(params['next_clock'])
+        return self._mcu.clock_to_print_time(next_clock - self._rest_ticks)
     def query_endstop(self, print_time):
         clock = self._mcu.print_time_to_clock(print_time)
         if self._mcu.is_fileoutput():