diff --git a/dda.c b/dda.c
index db77f67..9dc85d1 100644
--- a/dda.c
+++ b/dda.c
@@ -225,41 +225,25 @@ void dda_create(DDA *dda, TARGET *target) {
 // TODO TODO: We should really make up a loop for all axes.
 //            Think of what happens when a sixth axis (multi colour extruder)
 //            appears?
-	if (target->all_relative) {
-		x_delta_um = labs(target->X);
-		um_to_steps_x(dda->x_delta, x_delta_um);
-		dda->x_direction = (target->X >= 0)?1:0;
+	x_delta_um = (uint32_t)labs(target->X - startpoint.X);
+	y_delta_um = (uint32_t)labs(target->Y - startpoint.Y);
+	z_delta_um = (uint32_t)labs(target->Z - startpoint.Z);
 
-		y_delta_um = labs(target->Y);
-		um_to_steps_y(dda->y_delta, y_delta_um);
-		dda->y_direction = (target->Y >= 0)?1:0;
+	um_to_steps_x(steps, target->X);
+	dda->x_delta = labs(steps - startpoint_steps.X);
+	startpoint_steps.X = steps;
+	um_to_steps_y(steps, target->Y);
+	dda->y_delta = labs(steps - startpoint_steps.Y);
+	startpoint_steps.Y = steps;
+	um_to_steps_z(steps, target->Z);
+	dda->z_delta = labs(steps - startpoint_steps.Z);
+	startpoint_steps.Z = steps;
 
-		z_delta_um = labs(target->Z);
-		um_to_steps_z(dda->z_delta, z_delta_um);
-		dda->z_direction = (target->Z >= 0)?1:0;
-	}
-	else {
-		x_delta_um = (uint32_t)labs(target->X - startpoint.X);
-		y_delta_um = (uint32_t)labs(target->Y - startpoint.Y);
-		z_delta_um = (uint32_t)labs(target->Z - startpoint.Z);
+	dda->x_direction = (target->X >= startpoint.X)?1:0;
+	dda->y_direction = (target->Y >= startpoint.Y)?1:0;
+	dda->z_direction = (target->Z >= startpoint.Z)?1:0;
 
-		um_to_steps_x(steps, target->X);
-		dda->x_delta = labs(steps - startpoint_steps.X);
-		startpoint_steps.X = steps;
-		um_to_steps_y(steps, target->Y);
-		dda->y_delta = labs(steps - startpoint_steps.Y);
-		startpoint_steps.Y = steps;
-		um_to_steps_z(steps, target->Z);
-		dda->z_delta = labs(steps - startpoint_steps.Z);
-		startpoint_steps.Z = steps;
-
-		dda->x_direction = (target->X >= startpoint.X)?1:0;
-		dda->y_direction = (target->Y >= startpoint.Y)?1:0;
-		dda->z_direction = (target->Z >= startpoint.Z)?1:0;
-	}
-
-	// This if() matches Sprinter's behaviour as of March 2012.
-	if (target->all_relative || target->e_relative) {
+	if (target->e_relative) {
 		e_delta_um = labs(target->E);
 		um_to_steps_e(dda->e_delta, e_delta_um);
 		dda->e_direction = (target->E >= 0)?1:0;
diff --git a/dda.h b/dda.h
index 508893f..e96b57f 100644
--- a/dda.h
+++ b/dda.h
@@ -106,7 +106,6 @@ typedef struct {
 	int32_t						E;
 	uint32_t					F;
 
-	uint8_t		all_relative			:1; ///< bool: relative coordinates?
 	uint8_t		e_relative				:1; ///< bool: e axis relative? Overrides all_relative
 } TARGET;
 
diff --git a/gcode_parse.c b/gcode_parse.c
index 2c63649..592aaf0 100644
--- a/gcode_parse.c
+++ b/gcode_parse.c
@@ -346,10 +346,10 @@ void gcode_parse_char(uint8_t c) {
 		next_target.seen_G = 1;
 		next_target.G = 1;
 
-		if (next_target.target.all_relative) {
+		if (next_target.option_all_relative) {
 			next_target.target.X = next_target.target.Y = next_target.target.Z = 0;
 		}
-		if (next_target.target.all_relative || next_target.target.e_relative) {
+		if (next_target.option_all_relative || next_target.option_e_relative) {
 			next_target.target.E = 0;
 		}
 	}
diff --git a/gcode_parse.h b/gcode_parse.h
index 298eb17..0fac353 100644
--- a/gcode_parse.h
+++ b/gcode_parse.h
@@ -40,6 +40,8 @@ typedef struct {
 			uint8_t					seen_checksum				:1; ///< seen a checksum?
 			uint8_t					seen_semi_comment		:1; ///< seen a semicolon?
 			uint8_t					seen_parens_comment	:1; ///< seen an open parenthesis
+			uint8_t					option_all_relative	:1; ///< relative or absolute coordinates?
+			uint8_t					option_e_relative		:1; ///< same for e axis (M82/M83)
 			uint8_t					option_inches				:1; ///< inches or millimeters?
 		};
 		uint16_t				flags;
diff --git a/gcode_process.c b/gcode_process.c
index 268b4be..86b3a44 100644
--- a/gcode_process.c
+++ b/gcode_process.c
@@ -41,7 +41,7 @@ uint8_t next_tool;
 #if E_STARTSTOP_STEPS > 0
 /// move E by a certain amount at a certain speed
 static void SpecialMoveE(int32_t e, uint32_t f) {
-	TARGET t = { 0L, 0L, 0L, e, f, 1, 1 };
+	TARGET t = { 0L, 0L, 0L, e, f, 1 };
 	enqueue(&t);
 }
 #endif /* E_STARTSTOP_STEPS > 0 */
@@ -59,66 +59,44 @@ static void SpecialMoveE(int32_t e, uint32_t f) {
 void process_gcode_command() {
 	uint32_t	backup_f;
 
+	// convert relative to absolute
+	if (next_target.option_all_relative) {
+		next_target.target.X += startpoint.X;
+		next_target.target.Y += startpoint.Y;
+		next_target.target.Z += startpoint.Z;
+	}
+
+	// E relative movement.
+	// Matches Sprinter's behaviour as of March 2012.
+	if (next_target.option_all_relative || next_target.option_e_relative)
+		next_target.target.e_relative = 1;
+	else
+		next_target.target.e_relative = 0;
+
 	// implement axis limits
 	#ifdef	X_MIN
-		if (next_target.target.all_relative) {
-			if (next_target.target.X += startpoint.X < X_MIN * 1000.)
-				next_target.target.X = X_MIN * 1000. + startpoint.X;
-		}
-		else {
-			if (next_target.target.X < X_MIN * 1000.)
-				next_target.target.X = X_MIN * 1000.;
-		}
+		if (next_target.target.X < X_MIN * 1000.)
+			next_target.target.X = X_MIN * 1000.;
 	#endif
 	#ifdef	X_MAX
-		if (next_target.target.all_relative) {
-			if (next_target.target.X += startpoint.X > X_MAX * 1000.)
-				next_target.target.X = X_MAX * 1000. - startpoint.X;
-		}
-		else {
-			if (next_target.target.X > X_MAX * 1000.)
-				next_target.target.X = X_MAX * 1000.;
-		}
+		if (next_target.target.X > X_MAX * 1000.)
+			next_target.target.X = X_MAX * 1000.;
 	#endif
 	#ifdef	Y_MIN
-		if (next_target.target.all_relative) {
-			if (next_target.target.Y += startpoint.Y < Y_MIN * 1000.)
-				next_target.target.Y = Y_MIN * 1000. + startpoint.Y;
-		}
-		else {
-			if (next_target.target.Y < Y_MIN * 1000.)
-				next_target.target.Y = Y_MIN * 1000.;
-		}
+		if (next_target.target.Y < Y_MIN * 1000.)
+			next_target.target.Y = Y_MIN * 1000.;
 	#endif
 	#ifdef	Y_MAX
-		if (next_target.target.all_relative) {
-			if (next_target.target.Y += startpoint.Y > Y_MAX * 1000.)
-				next_target.target.Y = Y_MAX * 1000. - startpoint.Y;
-		}
-		else {
-			if (next_target.target.Y > Y_MAX * 1000.)
-				next_target.target.Y = Y_MAX * 1000.;
-		}
+		if (next_target.target.Y > Y_MAX * 1000.)
+			next_target.target.Y = Y_MAX * 1000.;
 	#endif
 	#ifdef	Z_MIN
-		if (next_target.target.all_relative) {
-			if (next_target.target.Z += startpoint.Z < Z_MIN * 1000.)
-				next_target.target.Z = Z_MIN * 1000. + startpoint.Z;
-		}
-		else {
-			if (next_target.target.Z < Z_MIN * 1000.)
-				next_target.target.Z = Z_MIN * 1000.;
-		}
+		if (next_target.target.Z < Z_MIN * 1000.)
+			next_target.target.Z = Z_MIN * 1000.;
 	#endif
 	#ifdef	Z_MAX
-		if (next_target.target.all_relative) {
-			if (next_target.target.Z += startpoint.Z > Z_MAX * 1000.)
-				next_target.target.Z = Z_MAX * 1000. - startpoint.Z;
-		}
-		else {
-			if (next_target.target.Z > Z_MAX * 1000.)
-				next_target.target.Z = Z_MAX * 1000.;
-		}
+		if (next_target.target.Z > Z_MAX * 1000.)
+			next_target.target.Z = Z_MAX * 1000.;
 	#endif
 
 
@@ -276,12 +254,14 @@ void process_gcode_command() {
 				//? All coordinates from now on are absolute relative to the origin
 				//? of the machine. This is the RepRap default.
 				//?
+				//? If you ever want to switch back and forth between relative and
+				//? absolute movement keep in mind, X, Y and Z follow the machine's
+				//? coordinate system while E doesn't change it's position in the
+				//? coordinate system on relative movements.
+				//?
 
-				// No queue_wait() needed.
-				next_target.target.all_relative = 0;
-				// TODO: What's about startpoint, next_target an friends?
-				//       What should a machine do when returning from relative
-				//       to absolute mode?
+				// No wait_queue() needed.
+				next_target.option_all_relative = 0;
 				break;
 
 			case 91:
@@ -292,8 +272,8 @@ void process_gcode_command() {
 				//? All coordinates from now on are relative to the last position.
 				//?
 
-				// No queue_wait() needed.
-				next_target.target.all_relative = 1;
+				// No wait_queue() needed.
+				next_target.option_all_relative = 1;
 				break;
 
 			case 92:
@@ -319,9 +299,7 @@ void process_gcode_command() {
 					axisSelected = 1;
 				}
 				if (next_target.seen_E) {
-					#ifdef	E_ABSOLUTE
-						startpoint.E = next_target.target.E;
-					#endif
+					startpoint.E = next_target.target.E;
 					axisSelected = 1;
 				}
 
@@ -424,21 +402,26 @@ void process_gcode_command() {
 			case 82:
 				//? --- M82 - Set E codes absolute ---
 				//?
-				//? This is the default. M82/M83 is not documented in the
-				//? RepRap wiki, behaviours was taken from Sprinter as of March 2012.
+				//? This is the default and overrides G90/G91.
+				//? M82/M83 is not documented in the RepRap wiki, behaviour
+				//? was taken from Sprinter as of March 2012.
+				//?
+				//? While E does relative movements, it doesn't change its
+				//? position in the coordinate system. See also comment on G90.
+				//?
 
 				// No wait_queue() needed.
-				next_target.target.e_relative = 0;
+				next_target.option_e_relative = 0;
 				break;
 
-			// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
 			case 83:
 				//? --- M83 - Set E codes relative ---
 				//?
 				//? Counterpart to M82.
+				//?
 
 				// No wait_queue() needed.
-				next_target.target.e_relative = 1;
+				next_target.option_e_relative = 1;
 				break;
 
 			// M84- stop idle hold
diff --git a/home.c b/home.c
index 443b72a..325b1c3 100644
--- a/home.c
+++ b/home.c
@@ -34,7 +34,7 @@ void home() {
 /// find X MIN endstop
 void home_x_negative() {
 	#if defined X_MIN_PIN
-		TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 };
+		TARGET t = startpoint;
 
 		t.X = -1000000;
 		#ifdef SLOW_HOMING
@@ -70,7 +70,7 @@ void home_x_positive() {
 		#warning X_MAX_PIN defined, but not X_MAX. home_x_positive() disabled.
 	#endif
 	#if defined X_MAX_PIN && defined X_MAX
-		TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 };
+		TARGET t = startpoint;
 
 		t.X = +1000000;
 		#ifdef SLOW_HOMING
@@ -104,7 +104,7 @@ void home_x_positive() {
 /// fund Y MIN endstop
 void home_y_negative() {
 	#if defined Y_MIN_PIN
-		TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 };
+		TARGET t = startpoint;
 
 		t.Y = -1000000;
 		#ifdef SLOW_HOMING
@@ -140,7 +140,7 @@ void home_y_positive() {
 		#warning Y_MAX_PIN defined, but not Y_MAX. home_y_positive() disabled.
 	#endif
 	#if defined Y_MAX_PIN && defined Y_MAX
-		TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 };
+		TARGET t = startpoint;
 
 		t.Y = +1000000;
 		#ifdef SLOW_HOMING
@@ -174,7 +174,7 @@ void home_y_positive() {
 /// find Z MIN endstop
 void home_z_negative() {
 	#if defined Z_MIN_PIN
-		TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 };
+		TARGET t = startpoint;
 
 		t.Z = -1000000;
 		#ifdef SLOW_HOMING
@@ -211,7 +211,7 @@ void home_z_positive() {
 		#warning Z_MAX_PIN defined, but not Z_MAX. home_z_positive() disabled.
 	#endif
 	#if defined Z_MAX_PIN && defined Z_MAX
-		TARGET t = { 0L, 0L, 0L, 0L, 0L, 1, 1 };
+		TARGET t = startpoint;
 
 		t.Z = +1000000;
 		#ifdef SLOW_HOMING