diff --git a/.gitignore b/.gitignore
new file mode 100644
index 000000000..0a12acfd7
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,5 @@
+*.o
+applet/
+*~
+*.orig
+*.rej
diff --git a/Marlin/.gitignore b/Marlin/.gitignore
deleted file mode 100644
index 37a3c9b84..000000000
--- a/Marlin/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-*.o
-applet/
diff --git a/Marlin/EEPROMwrite.h b/Marlin/EEPROMwrite.h
index 96e2ec985..f07716085 100644
--- a/Marlin/EEPROMwrite.h
+++ b/Marlin/EEPROMwrite.h
@@ -38,7 +38,7 @@ template <class T> int EEPROM_readAnything(int &ee, T& value)
 // the default values are used whenever there is a change to the data, to prevent
 // wrong data being written to the variables.
 // ALSO:  always make sure the variables in the Store and retrieve sections are in the same order.
-#define EEPROM_VERSION "V05"  
+#define EEPROM_VERSION "V06"
 
 inline void EEPROM_StoreSettings() 
 {
@@ -57,6 +57,7 @@ inline void EEPROM_StoreSettings()
   EEPROM_writeAnything(i,max_xy_jerk);
   EEPROM_writeAnything(i,max_z_jerk);
   EEPROM_writeAnything(i,max_e_jerk);
+  EEPROM_writeAnything(i,add_homeing);
   #ifdef PIDTEMP
     EEPROM_writeAnything(i,Kp);
     EEPROM_writeAnything(i,Ki);
@@ -119,6 +120,13 @@ inline void EEPROM_printSettings()
       SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
       SERIAL_ECHOPAIR(" E" ,max_e_jerk);
       SERIAL_ECHOLN(""); 
+    SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Home offset (mm):");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M206 X",add_homeing[0] );
+      SERIAL_ECHOPAIR(" Y" ,add_homeing[1] );
+      SERIAL_ECHOPAIR(" Z" ,add_homeing[2] );
+      SERIAL_ECHOLN("");
     #ifdef PIDTEMP
       SERIAL_ECHO_START;
       SERIAL_ECHOLNPGM("PID settings:");
@@ -153,6 +161,7 @@ inline void EEPROM_RetrieveSettings(bool def=false)
       EEPROM_readAnything(i,max_xy_jerk);
       EEPROM_readAnything(i,max_z_jerk);
       EEPROM_readAnything(i,max_e_jerk);
+      EEPROM_readAnything(i,add_homeing);
       #ifndef PIDTEMP
         float Kp,Ki,Kd;
       #endif
@@ -183,6 +192,7 @@ inline void EEPROM_RetrieveSettings(bool def=false)
       max_xy_jerk=DEFAULT_XYJERK;
       max_z_jerk=DEFAULT_ZJERK;
       max_e_jerk=DEFAULT_EJERK;
+      add_homeing[0] = add_homeing[1] = add_homeing[2] = 0;
       SERIAL_ECHO_START;
       SERIAL_ECHOLN("Using Default settings:");
     }
diff --git a/Marlin/Makefile b/Marlin/Makefile
index fe77a2afd..940bb168b 100644
--- a/Marlin/Makefile
+++ b/Marlin/Makefile
@@ -170,6 +170,14 @@ ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
 ALL_CXXFLAGS = -mmcu=$(MCU) $(CXXFLAGS)
 ALL_ASFLAGS = -mmcu=$(MCU) -x assembler-with-cpp $(ASFLAGS)
 
+# set V=1 (eg, "make V=1") to print the full commands etc.
+ifneq ($V,1)
+ Pecho=@echo
+ P=@
+else
+ Pecho=@:
+ P=
+endif
 
 # Default target.
 all: sizeafter
@@ -178,7 +186,7 @@ build: applet elf hex
 
 # Creates the object directory
 applet: 
-	@mkdir -p applet
+	$P mkdir -p applet
 
 # the .cpp for Marlin depends on the .pde
 #applet/$(TARGET).cpp: $(TARGET).pde
@@ -189,10 +197,10 @@ applet/%.cpp: %.pde $(MAKEFILE)
 # Here is the "preprocessing".
 # It creates a .cpp file based with the same name as the .pde file.
 # On top of the new .cpp file comes the WProgram.h header.
-	@echo "  WR    $@"
-	@echo '#include "WProgram.h"' > $@
-	@echo '#include "$<"' >>$@
-	@echo '#include "$(ARDUINO)/main.cpp"' >> $@
+	$(Pecho) "  WR    $@"
+	$P echo '#include "WProgram.h"' > $@
+	$P echo '#include "$<"' >>$@
+	$P echo '#include "$(ARDUINO)/main.cpp"' >> $@
 
 elf: applet/$(TARGET).elf
 hex: applet/$(TARGET).hex
@@ -213,12 +221,13 @@ endif
 
 	# Display size of file.
 HEXSIZE = $(SIZE) --target=$(FORMAT) applet/$(TARGET).hex
-ELFSIZE = $(SIZE)  applet/$(TARGET).elf
+ELFSIZE = $(SIZE) --mcu=$(MCU) -C applet/$(TARGET).elf; \
+          $(SIZE)  applet/$(TARGET).elf
 sizebefore:
-	@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi
+	$P if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi
 
 sizeafter: build
-	@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
+	$P if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
 
 
 # Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
@@ -241,8 +250,8 @@ extcoff: $(TARGET).elf
 .PRECIOUS: .o
 
 .elf.hex:
-	@echo "  COPY  $@"
-	@$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
+	$(Pecho) "  COPY  $@"
+	$P $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
 
 .elf.eep:
 	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
@@ -258,29 +267,29 @@ extcoff: $(TARGET).elf
 
 	# Link: create ELF output file from library.
 applet/$(TARGET).elf: applet/$(TARGET).cpp applet/core.a Configuration.h
-	@echo "  CXX   $@"
-	@$(CC) $(ALL_CXXFLAGS) -Wl,--gc-sections -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
+	$(Pecho) "  CXX   $@"
+	$P $(CC) $(ALL_CXXFLAGS) -Wl,--gc-sections -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
 
 applet/core.a: $(OBJ)
-	@for i in $(OBJ); do echo "  AR    $$i"; $(AR) rcs applet/core.a $$i; done
+	$P for i in $(OBJ); do echo "  AR    $$i"; $(AR) rcs applet/core.a $$i; done
 
 applet/%.o: %.c Configuration.h Configuration_adv.h $(MAKEFILE)
-	@echo "  CC    $@"
-	@$(CC) -MMD -c $(ALL_CFLAGS) $< -o $@
+	$(Pecho) "  CC    $@"
+	$P $(CC) -MMD -c $(ALL_CFLAGS) $< -o $@
 
 applet/%.o: %.cpp Configuration.h Configuration_adv.h $(MAKEFILE)
-	@echo "  CXX   $@"
-	@$(CXX) -MMD -c $(ALL_CXXFLAGS) $< -o $@
+	$(Pecho) "  CXX   $@"
+	$P $(CXX) -MMD -c $(ALL_CXXFLAGS) $< -o $@
 
 
 # Target: clean project.
 clean:
-	@echo "  RM    applet/*"
-	@$(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \
+	$(Pecho) "  RM    applet/*"
+	$P $(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \
 		applet/$(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp applet/core.a \
 		$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
-	@echo "  RMDIR applet/"
-	@rm -rf applet
+	$(Pecho) "  RMDIR applet/"
+	$P rm -rf applet
 
 
 .PHONY:	all build elf hex eep lss sym program coff extcoff clean depend applet_files sizebefore sizeafter
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 412363444..208ac3303 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -84,7 +84,11 @@ const char echomagic[] PROGMEM ="echo:";
 #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
 #define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
 
-#define SERIAL_ECHOPAIR(name,value) {SERIAL_ECHOPGM(name);SERIAL_ECHO(value);}
+#define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
+
+void serial_echopair_P(const char *s_P, float v);
+void serial_echopair_P(const char *s_P, double v);
+void serial_echopair_P(const char *s_P, unsigned long v);
 
 
 //things to write to serial from Programmemory. saves 400 to 2k of RAM.
@@ -169,6 +173,7 @@ bool IsStopped();
 
 void enquecommand(const char *cmd); //put an ascii command at the end of the current buffer.
 void prepare_arc_move(char isclockwise);
+void clamp_to_software_endstops(float target[3]);
 
 #ifdef FAST_PWM_FAN
 void setPwmFrequency(uint8_t pin, int val);
@@ -183,6 +188,8 @@ extern float homing_feedrate[];
 extern bool axis_relative_modes[];
 extern float current_position[NUM_AXIS] ;
 extern float add_homeing[3];
+extern float min_pos[3];
+extern float max_pos[3];
 extern unsigned char FanSpeed;
 
 // Handling multiple extruders pins
diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
index 73f1f4126..8ed36a5c0 100644
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@@ -1,3 +1,5 @@
+/* -*- c++ -*- */
+
 /*
     Reprap firmware based on Sprinter and grbl.
  Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
@@ -141,6 +143,8 @@ volatile bool feedmultiplychanged=false;
 volatile int extrudemultiply=100; //100->1 200->2
 float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
 float add_homeing[3]={0,0,0};
+float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
+float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
 uint8_t active_extruder = 0;
 unsigned char FanSpeed=0;
 
@@ -199,6 +203,13 @@ bool Stopped=false;
 
 void get_arc_coordinates();
 
+void serial_echopair_P(const char *s_P, float v)
+    { serialprintPGM(s_P); SERIAL_ECHO(v); }
+void serial_echopair_P(const char *s_P, double v)
+    { serialprintPGM(s_P); SERIAL_ECHO(v); }
+void serial_echopair_P(const char *s_P, unsigned long v)
+    { serialprintPGM(s_P); SERIAL_ECHO(v); }
+
 extern "C"{
   extern unsigned int __bss_end;
   extern unsigned int __heap_start;
@@ -541,32 +552,65 @@ bool code_seen(char code)
   return (strchr_pointer != NULL);  //Return True if a character was found
 }
 
-#define HOMEAXIS(LETTER) \
-  if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\
-    { \
-    current_position[LETTER##_AXIS] = 0; \
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); \
-    destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \
-    feedrate = homing_feedrate[LETTER##_AXIS]; \
-    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
-    st_synchronize();\
-    \
-    current_position[LETTER##_AXIS] = 0;\
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
-    destination[LETTER##_AXIS] = -LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
-    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
-    st_synchronize();\
-    \
-    destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
-    feedrate = homing_feedrate[LETTER##_AXIS]/2 ;  \
-    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
-    st_synchronize();\
-    \
-    current_position[LETTER##_AXIS] = LETTER##_HOME_POS;\
-    destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\
-    feedrate = 0.0;\
-    endstops_hit_on_purpose();\
+#define DEFINE_PGM_READ_ANY(type, reader)		\
+    static inline type pgm_read_any(const type *p)	\
+	{ return pgm_read_##reader##_near(p); }
+
+DEFINE_PGM_READ_ANY(float,       float);
+DEFINE_PGM_READ_ANY(signed char, byte);
+
+#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG)	\
+static const PROGMEM type array##_P[3] =		\
+    { X_##CONFIG, Y_##CONFIG, Z_##CONFIG };		\
+static inline type array(int axis)			\
+    { return pgm_read_any(&array##_P[axis]); }
+
+XYZ_CONSTS_FROM_CONFIG(float, base_min_pos,    MIN_POS);
+XYZ_CONSTS_FROM_CONFIG(float, base_max_pos,    MAX_POS);
+XYZ_CONSTS_FROM_CONFIG(float, base_home_pos,   HOME_POS);
+XYZ_CONSTS_FROM_CONFIG(float, max_length,      MAX_LENGTH);
+XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
+XYZ_CONSTS_FROM_CONFIG(signed char, home_dir,  HOME_DIR);
+
+static void axis_is_at_home(int axis) {
+  current_position[axis] = base_home_pos(axis) + add_homeing[axis];
+  min_pos[axis] =          base_min_pos(axis) + add_homeing[axis];
+  max_pos[axis] =          base_max_pos(axis) + add_homeing[axis];
+}
+
+static void homeaxis(int axis) {
+#define HOMEAXIS_DO(LETTER) \
+  ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
+
+  if (axis==X_AXIS ? HOMEAXIS_DO(X) :
+      axis==Y_AXIS ? HOMEAXIS_DO(Y) :
+      axis==Z_AXIS ? HOMEAXIS_DO(Z) :
+      0) {
+    current_position[axis] = 0;
+    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+    destination[axis] = 1.5 * max_length(axis) * home_dir(axis);
+    feedrate = homing_feedrate[axis];
+    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+    st_synchronize();
+   
+    current_position[axis] = 0;
+    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+    destination[axis] = -home_retract_mm(axis) * home_dir(axis);
+    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+    st_synchronize();
+   
+    destination[axis] = 2*home_retract_mm(axis) * home_dir(axis);
+    feedrate = homing_feedrate[axis]/2 ; 
+    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+    st_synchronize();
+   
+    axis_is_at_home(axis);					
+    destination[axis] = current_position[axis];
+    feedrate = 0.0;
+    endstops_hit_on_purpose();
   }
+}
+#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
 
 void process_commands()
 {
@@ -676,8 +720,8 @@ void process_commands()
         plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
         st_synchronize();
     
-        current_position[X_AXIS] = X_HOME_POS;
-        current_position[Y_AXIS] = Y_HOME_POS;
+        axis_is_at_home(X_AXIS);
+        axis_is_at_home(Y_AXIS);
         plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
         destination[X_AXIS] = current_position[X_AXIS];
         destination[Y_AXIS] = current_position[Y_AXIS];
@@ -1539,19 +1583,25 @@ void get_arc_coordinates()
    }
 }
 
-void prepare_move()
+void clamp_to_software_endstops(float target[3])
 {
   if (min_software_endstops) {
-    if (destination[X_AXIS] < X_MIN_POS) destination[X_AXIS] = X_MIN_POS;
-    if (destination[Y_AXIS] < Y_MIN_POS) destination[Y_AXIS] = Y_MIN_POS;
-    if (destination[Z_AXIS] < Z_MIN_POS) destination[Z_AXIS] = Z_MIN_POS;
+    if (target[X_AXIS] < min_pos[X_AXIS]) target[X_AXIS] = min_pos[X_AXIS];
+    if (target[Y_AXIS] < min_pos[Y_AXIS]) target[Y_AXIS] = min_pos[Y_AXIS];
+    if (target[Z_AXIS] < min_pos[Z_AXIS]) target[Z_AXIS] = min_pos[Z_AXIS];
   }
 
   if (max_software_endstops) {
-    if (destination[X_AXIS] > X_MAX_POS) destination[X_AXIS] = X_MAX_POS;
-    if (destination[Y_AXIS] > Y_MAX_POS) destination[Y_AXIS] = Y_MAX_POS;
-    if (destination[Z_AXIS] > Z_MAX_POS) destination[Z_AXIS] = Z_MAX_POS;
+    if (target[X_AXIS] > max_pos[X_AXIS]) target[X_AXIS] = max_pos[X_AXIS];
+    if (target[Y_AXIS] > max_pos[Y_AXIS]) target[Y_AXIS] = max_pos[Y_AXIS];
+    if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
   }
+}
+
+void prepare_move()
+{
+  clamp_to_software_endstops(destination);
+
   previous_millis_cmd = millis();  
   plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
   for(int8_t i=0; i < NUM_AXIS; i++) {
diff --git a/Marlin/motion_control.cpp b/Marlin/motion_control.cpp
index f11d8c8b8..76609054f 100644
--- a/Marlin/motion_control.cpp
+++ b/Marlin/motion_control.cpp
@@ -125,17 +125,7 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
     arc_target[axis_linear] += linear_per_segment;
     arc_target[E_AXIS] += extruder_per_segment;
 
-    if (min_software_endstops) {
-      if (arc_target[X_AXIS] < X_HOME_POS) arc_target[X_AXIS] = X_HOME_POS;
-      if (arc_target[Y_AXIS] < Y_HOME_POS) arc_target[Y_AXIS] = Y_HOME_POS;
-      if (arc_target[Z_AXIS] < Z_HOME_POS) arc_target[Z_AXIS] = Z_HOME_POS;
-    }
-
-    if (max_software_endstops) {
-      if (arc_target[X_AXIS] > X_MAX_LENGTH) arc_target[X_AXIS] = X_MAX_LENGTH;
-      if (arc_target[Y_AXIS] > Y_MAX_LENGTH) arc_target[Y_AXIS] = Y_MAX_LENGTH;
-      if (arc_target[Z_AXIS] > Z_MAX_LENGTH) arc_target[Z_AXIS] = Z_MAX_LENGTH;
-    }
+    clamp_to_software_endstops(arc_target);
     plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, extruder);
     
   }
diff --git a/README.md b/README.md
index 86dd93de9..fb2c18968 100644
--- a/README.md
+++ b/README.md
@@ -152,6 +152,7 @@ Movement variables:
 *   M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
 *   M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
 *   M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
+*   M206 - set home offsets.  This sets the X,Y,Z coordinates of the endstops (and is added to the {X,Y,Z}_HOME_POS configuration options (and is also added to the coordinates, if any, provided to G82, as with earlier firmware)
 *   M220 - set build speed mulitplying S:factor in percent ; aka "realtime tuneing in the gcode". So you can slow down if you have islands in one height-range, and speed up otherwise.
 *   M221 - set the extrude multiplying S:factor in percent
 *   M400 - Finish all buffered moves.