Smoothieware/Smoothieware — pull request #524 by qharley (2014-10-04 10:46:14+00:00)
Title: Added automatic end-stop offset calbration to M206:

M206 P X Y Z
When P is available in the line, every named axis will be assumed to be zero,
and the calculated offset inserted into memory.

Not only useful for cartesian axis systems, as the kinematics are taken into account at the point of execution