diff --git a/FluidNC/src/Machine/Axes.cpp b/FluidNC/src/Machine/Axes.cpp
index dd47ddf2e..1b07a42ef 100644
--- a/FluidNC/src/Machine/Axes.cpp
+++ b/FluidNC/src/Machine/Axes.cpp
@@ -52,6 +52,10 @@ namespace Machine {
                 log_info("Axis " << axisName(axis) << " (" << limitsMinPosition(axis) << "," << limitsMaxPosition(axis) << ")");
                 a->init();
             }
+            auto homing = a->_homing;
+            if (homing && !homing->_positiveDirection) {
+                set_bitnum(Homing::direction_mask, axis);
+            }
         }
 
         config_motors();
diff --git a/FluidNC/src/Machine/Homing.cpp b/FluidNC/src/Machine/Homing.cpp
index 577c6fe2e..2ce3668f0 100644
--- a/FluidNC/src/Machine/Homing.cpp
+++ b/FluidNC/src/Machine/Homing.cpp
@@ -32,10 +32,11 @@ namespace Machine {
     const uint32_t MOTOR0 = 0xffff;
     const uint32_t MOTOR1 = 0xffff0000;
 
-    Homing::Phase   Homing::_phase       = Phase::None;
-    AxisMask        Homing::_cycleAxes   = 0;
-    AxisMask        Homing::_phaseAxes   = 0;
-    MotorMask       Homing::_cycleMotors = 0;
+    Homing::Phase   Homing::_phase         = Phase::None;
+    AxisMask        Homing::_cycleAxes     = 0;
+    AxisMask        Homing::_phaseAxes     = 0;
+    AxisMask        Homing::direction_mask = 0;
+    MotorMask       Homing::_cycleMotors   = 0;
     MotorMask       Homing::_phaseMotors;
     std::queue<int> Homing::_remainingCycles;
     uint32_t        Homing::_settling_ms;
diff --git a/FluidNC/src/Machine/Homing.h b/FluidNC/src/Machine/Homing.h
index cf869656a..2113be23c 100644
--- a/FluidNC/src/Machine/Homing.h
+++ b/FluidNC/src/Machine/Homing.h
@@ -27,6 +27,7 @@ namespace Machine {
         static uint32_t _runs;
 
         static AxisMask unhomed_axes();
+        static AxisMask direction_mask;
 
         static void set_axis_homed(size_t axis);
         static void set_axis_unhomed(size_t axis);
diff --git a/FluidNC/src/SettingsDefinitions.cpp b/FluidNC/src/SettingsDefinitions.cpp
index 262dca128..f17b0450a 100644
--- a/FluidNC/src/SettingsDefinitions.cpp
+++ b/FluidNC/src/SettingsDefinitions.cpp
@@ -1,6 +1,8 @@
 #include "Machine/MachineConfig.h"
 #include "SettingsDefinitions.h"
 #include "Config.h"
+#include "Stepping.h"
+#include "Machine/Homing.h"
 
 #include <tuple>
 #include <array>
@@ -109,7 +111,9 @@ void make_settings() {
     FLOAT_PROXY("101", "Grbl/Resolution/Y", config._axes->_axis[1]->_stepsPerMm)
     FLOAT_PROXY("102", "Grbl/Resolution/Z", config._axes->_axis[2]->_stepsPerMm)
 
+    INT_PROXY("3", "Grbl/InvertMask", Machine::Stepping::direction_mask)
     INT_PROXY("20", "Grbl/SoftLimitsEnable", config._axes->_axis[0]->_softLimits)
     INT_PROXY("21", "Grbl/HardLimitsEnable", config._axes->hasHardLimits())
     INT_PROXY("22", "Grbl/HomingCycleEnable", (bool)Axes::homingMask)
+    INT_PROXY("23", "Grbl/HomingInvertMask", Homing::direction_mask)
 }
diff --git a/FluidNC/src/Stepping.cpp b/FluidNC/src/Stepping.cpp
index eb166668d..0dabd99fa 100644
--- a/FluidNC/src/Stepping.cpp
+++ b/FluidNC/src/Stepping.cpp
@@ -24,6 +24,8 @@ namespace Machine {
 
     int Stepping::_engine = RMT_ENGINE;
 
+    AxisMask Stepping::direction_mask = 0;
+
     bool   Stepping::_switchedStepper = false;
     size_t Stepping::_segments        = 12;
 
@@ -78,6 +80,10 @@ void Stepping::assignMotor(int axis, int motor, int step_pin, bool step_invert,
     m->dir_invert            = dir_invert;
     m->blocked               = false;
     m->limited               = false;
+
+    if (motor == 0 && dir_invert) {
+        set_bitnum(direction_mask, axis);
+    }
 }
 
 int Stepping::axis_steps[MAX_N_AXIS] = { 0 };
diff --git a/FluidNC/src/Stepping.h b/FluidNC/src/Stepping.h
index fbf7a48ab..dcccf8da9 100644
--- a/FluidNC/src/Stepping.h
+++ b/FluidNC/src/Stepping.h
@@ -87,6 +87,8 @@ namespace Machine {
 
         static uint32_t maxPulsesPerSec();
 
+        static AxisMask direction_mask;
+
         // Timers
         static void setTimerPeriod(uint32_t timerTicks);
         static void startTimer();