Refactor and optimize Stepper/Planner

Better encapsulation and considerably reduce stepper jitter

Marlin/src/module/temperature.cpp

@@ -25,6 +25,7 @@
  */
 
 #include "temperature.h"
+#include "endstops.h"
 
 #include "../Marlin.h"
 #include "../lcd/ultralcd.h"
@@ -1725,6 +1726,7 @@ void Temperature::set_current_temp_raw() {
  *  - Step the babysteps value for each axis towards 0
  *  - For PINS_DEBUGGING, monitor and report endstop pins
  *  - For ENDSTOP_INTERRUPTS_FEATURE check endstops if flagged
+ *  - Call planner.tick to count down its "ignore" time
  */
 HAL_TEMP_TIMER_ISR {
   HAL_timer_isr_prologue(TEMP_TIMER_NUM);
@@ -2249,15 +2251,19 @@ void Temperature::isr() {
     endstops.run_monitor();  // report changes in endstop status
   #endif
 
+  // Update endstops state, if enabled
   #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
-
     extern volatile uint8_t e_hit;
-
     if (e_hit && ENDSTOPS_ENABLED) {
-      endstops.update();  // call endstop update routine
+      endstops.update();
       e_hit--;
     }
+  #else
+    if (ENDSTOPS_ENABLED) endstops.update();
   #endif
+
+  // Periodically call the planner timer
+  planner.tick();
 }
 
 #if HAS_TEMP_SENSOR