You can easily get away doing CrossFit without much equipment. I too workout at home, and just have a basic bench, dumbbells, barbell, and a pullup bar. Also bought a kettlebell, but it's not necessary. The FAQ on their site has subs for anything you need to do that requires odd equipment.
I really enjoy it because it has a relatively short time requirement, intense, and is quite varied. The Workout of the Days are great cause they take all the thinking out of exercise, which is perfect! ;\)