diff --git a/.gitignore b/.gitignore
index 7ad1a0e..844cd7a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,3 +2,4 @@
 *.o
 *.elf
 *.DS_Store
+*.d
diff --git a/Makefile b/Makefile
index 58a4d9d..f0e7f41 100755
--- a/Makefile
+++ b/Makefile
@@ -49,6 +49,7 @@ all:	grbl.hex
 
 .c.o:
 	$(COMPILE) -c $< -o $@
+	@$(COMPILE) -MM  $< > $*.d
 
 .S.o:
 	$(COMPILE) -x assembler-with-cpp -c $< -o $@
@@ -74,7 +75,7 @@ load: all
 	bootloadHID grbl.hex
 
 clean:
-	rm -f grbl.hex main.elf $(OBJECTS)
+	rm -f grbl.hex main.elf $(OBJECTS) $(OBJECTS:.o=.d)
 
 # file targets:
 main.elf: $(OBJECTS)
@@ -93,3 +94,7 @@ disasm:	main.elf
 
 cpp:
 	$(COMPILE) -E main.c
+
+# include generated header dependencies
+-include $(OBJECTS:.o=.d)
+