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diff --git a/Marlin/src/HAL/DUE/timers.h b/Marlin/src/HAL/DUE/timers.h
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+++ b/Marlin/src/HAL/DUE/timers.h
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+/**
+ * Marlin 3D Printer Firmware
+ *
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * HAL Timers for Arduino Due and compatible (SAM3X8E)
+ */
+
+#include <stdint.h>
+
+// ------------------------
+// Defines
+// ------------------------
+
+#define FORCE_INLINE __attribute__((always_inline)) inline
+
+typedef uint32_t hal_timer_t;
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+
+#define HAL_TIMER_RATE         ((F_CPU) / 2)    // frequency of timers peripherals
+
+#ifndef STEP_TIMER_NUM
+  #define STEP_TIMER_NUM        2  // Timer Index for Stepper
+#endif
+#ifndef PULSE_TIMER_NUM
+  #define PULSE_TIMER_NUM       STEP_TIMER_NUM
+#endif
+#ifndef TEMP_TIMER_NUM
+  #define TEMP_TIMER_NUM        4  // Timer Index for Temperature
+#endif
+#ifndef TONE_TIMER_NUM
+  #define TONE_TIMER_NUM        6  // index of timer to use for beeper tones
+#endif
+
+#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+
+#define STEPPER_TIMER_RATE     HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
+#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
+
+#define PULSE_TIMER_RATE       STEPPER_TIMER_RATE   // frequency of pulse timer
+#define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+
+#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(STEP_TIMER_NUM)
+#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
+
+#define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
+#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
+
+#ifndef HAL_STEP_TIMER_ISR
+  #define HAL_STEP_TIMER_ISR() void TC2_Handler()
+#endif
+#ifndef HAL_TEMP_TIMER_ISR
+  #define HAL_TEMP_TIMER_ISR() void TC4_Handler()
+#endif
+#ifndef HAL_TONE_TIMER_ISR
+  #define HAL_TONE_TIMER_ISR() void TC6_Handler()
+#endif
+
+// ------------------------
+// Types
+// ------------------------
+
+typedef struct {
+  Tc          *pTimerRegs;
+  uint16_t    channel;
+  IRQn_Type   IRQ_Id;
+  uint8_t     priority;
+} tTimerConfig;
+
+// ------------------------
+// Public Variables
+// ------------------------
+
+extern const tTimerConfig TimerConfig[];
+
+// ------------------------
+// Public functions
+// ------------------------
+
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
+
+FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
+  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
+  pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC = compare;
+}
+
+FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
+  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
+  return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC;
+}
+
+FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
+  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
+  return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV;
+}
+
+void HAL_timer_enable_interrupt(const uint8_t timer_num);
+void HAL_timer_disable_interrupt(const uint8_t timer_num);
+bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
+
+FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
+  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
+  // Reading the status register clears the interrupt flag
+  pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
+}
+
+#define HAL_timer_isr_epilogue(TIMER_NUM)