diff --git a/home.c b/home.c
new file mode 100644
index 0000000..a433099
--- /dev/null
+++ b/home.c
@@ -0,0 +1,163 @@
+#include	"home.h"
+
+#include	"dda.h"
+#include	"dda_queue.h"
+#include	"delay.h"
+
+
+// F is mm/min
+// DELAY is clocks per step
+// 1 clock = 1 second/F_CPU
+// intermediaries are steps/mm and F_CPU per min
+// F mm/min * steps_per_mm = steps/min
+// clocks per min = 60 * F_CPU
+// clocks/min / (steps/min) = clocks per step
+// so delay = 60 * F_CPU / steps_per_mm / F
+// #define	FEEDRATE_TO_DELAY(F)	60.0 * ((float) F_CPU) / STEPS_PER_MM_X / F
+
+void home() {
+	queue_wait();
+
+	uint8_t	denoise_count = 0;
+
+	// home X
+	#if defined X_MIN_PIN || defined X_MAX_PIN
+		// hit home hard
+		#ifdef	X_MIN_PIN
+		x_direction(0);
+		#else
+		x_direction(1);
+		#endif
+		while (denoise_count < 8) {
+			// denoise
+			#ifdef	X_MIN_PIN
+			if (x_min())
+			#else
+			if (x_max())
+			#endif
+				denoise_count++;
+			else
+				denoise_count == 0;
+			// step
+			x_step();
+			delay(5);
+			unstep();
+			// wait until next step time
+			delay((uint32_t) (60.0 * ((float) F_CPU) / STEPS_PER_MM_X / ((float) MAXIMUM_FEEDRATE_X)));
+		}
+		denoise_count = 0;
+
+		// back off slowly
+		#ifdef	X_MIN_PIN
+		x_direction(1);
+		while (x_min() != 0) {
+		#else
+		x_direction(0);
+		while (x_max() != 0) {
+		#endif
+			// step
+			x_step();
+			delay(5);
+			unstep();
+			// wait until next step time
+			delay((uint32_t) (60.0 * ((float) F_CPU) / STEPS_PER_MM_X / ((float) SEARCH_FEEDRATE_X)));
+		}
+
+		// set X home
+		startpoint.X = current_position.X = 0;
+	#endif
+
+	// home Y
+	#if defined Y_MIN_PIN || defined Y_MAX_PIN
+		// hit home hard
+		#ifdef	Y_MIN_PIN
+		y_direction(0);
+		#else
+		y_direction(1);
+		#endif
+		while (denoise_count < 8) {
+			// denoise
+			#ifdef	Y_MIN_PIN
+			if (y_min())
+			#else
+			if (y_max())
+			#endif
+				denoise_count++;
+			else
+				denoise_count == 0;
+			// step
+			y_step();
+			delay(5);
+			unstep();
+			// wait until neyt step time
+			delay((uint32_t) (60.0 * ((float) F_CPU) / STEPS_PER_MM_Y / ((float) MAXIMUM_FEEDRATE_Y)));
+		}
+		denoise_count = 0;
+
+		// back off slowly
+		#ifdef	Y_MIN_PIN
+		y_direction(1);
+		while (y_min() != 0) {
+		#else
+		y_direction(0);
+		while (y_max() != 0) {
+			#endif
+			// step
+			y_step();
+			delay(5);
+			unstep();
+			// wait until next step time
+			delay((uint32_t) (60.0 * ((float) F_CPU) / STEPS_PER_MM_Y / ((float) SEARCH_FEEDRATE_Y)));
+		}
+
+		// set Y home
+		startpoint.Y = current_position.Y = 0;
+	#endif
+
+	// home Z
+	#if defined Z_MIN_PIN || defined Z_MAX_PIN
+		// hit home hard
+		#ifdef	Z_MIN_PIN
+		z_direction(0);
+		#else
+		z_direction(1);
+		#endif
+		while (denoise_count < 8) {
+			// denoise
+			#ifdef	Z_MIN_PIN
+			if (z_min())
+			#else
+			if (z_max())
+			#endif
+				denoise_count++;
+			else
+				denoise_count == 0;
+			// step
+			z_step();
+			delay(5);
+			unstep();
+			// wait until next step time
+			delay((uint32_t) (60.0 * ((float) F_CPU) / STEPS_PER_MM_Z / ((float) MAXIMUM_FEEDRATE_Z)));
+		}
+		denoise_count = 0;
+
+		// back off slowly
+		#ifdef	Z_MIN_PIN
+		z_direction(1);
+		while (z_min() != 0) {
+		#else
+		z_direction(0);
+		while (z_max() != 0) {
+			#endif
+			// step
+			z_step();
+			delay(5);
+			unstep();
+			// wait until next step time
+			delay((uint32_t) (60.0 * ((float) F_CPU) / STEPS_PER_MM_Z / ((float) SEARCH_FEEDRATE_Z)));
+		}
+
+		// set Z home
+		startpoint.Z = current_position.Z = 0;
+	#endif
+}
diff --git a/home.h b/home.h
new file mode 100644
index 0000000..b9b2523
--- /dev/null
+++ b/home.h
@@ -0,0 +1,5 @@
+#ifndef	_HOME_H
+
+void home(void);
+
+#endif	/* _HOME_H */