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diff --git a/Marlin/src/HAL/ESP32/timers.cpp b/Marlin/src/HAL/ESP32/timers.cpp
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * 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/>.
+ *
+ */
+#ifdef ARDUINO_ARCH_ESP32
+
+#include <stdio.h>
+#include <esp_types.h>
+#include <soc/timer_group_struct.h>
+#include <driver/periph_ctrl.h>
+#include <driver/timer.h>
+
+#include "../../inc/MarlinConfig.h"
+
+// ------------------------
+// Local defines
+// ------------------------
+
+#define NUM_HARDWARE_TIMERS 4
+
+// ------------------------
+// Private Variables
+// ------------------------
+
+static timg_dev_t *TG[2] = {&TIMERG0, &TIMERG1};
+
+const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
+  { TIMER_GROUP_0, TIMER_0, STEPPER_TIMER_PRESCALE, stepTC_Handler }, // 0 - Stepper
+  { TIMER_GROUP_0, TIMER_1,    TEMP_TIMER_PRESCALE, tempTC_Handler }, // 1 - Temperature
+  { TIMER_GROUP_1, TIMER_0,     PWM_TIMER_PRESCALE, pwmTC_Handler  }, // 2 - PWM
+  { TIMER_GROUP_1, TIMER_1,    TONE_TIMER_PRESCALE, toneTC_Handler }, // 3 - Tone
+};
+
+// ------------------------
+// Public functions
+// ------------------------
+
+void IRAM_ATTR timer_isr(void *para) {
+  const tTimerConfig& timer = TimerConfig[(int)para];
+
+  // Retrieve the interrupt status and the counter value
+  // from the timer that reported the interrupt
+  uint32_t intr_status = TG[timer.group]->int_st_timers.val;
+  TG[timer.group]->hw_timer[timer.idx].update = 1;
+
+  // Clear the interrupt
+  if (intr_status & BIT(timer.idx)) {
+    switch (timer.idx) {
+      case TIMER_0: TG[timer.group]->int_clr_timers.t0 = 1; break;
+      case TIMER_1: TG[timer.group]->int_clr_timers.t1 = 1; break;
+      case TIMER_MAX: break;
+    }
+  }
+
+  timer.fn();
+
+  // After the alarm has been triggered
+  // Enable it again so it gets triggered the next time
+  TG[timer.group]->hw_timer[timer.idx].config.alarm_en = TIMER_ALARM_EN;
+}
+
+/**
+ * Enable and initialize the timer
+ * @param timer_num timer number to initialize
+ * @param frequency frequency of the timer
+ */
+void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
+  const tTimerConfig timer = TimerConfig[timer_num];
+
+  timer_config_t config;
+  config.divider     = timer.divider;
+  config.counter_dir = TIMER_COUNT_UP;
+  config.counter_en  = TIMER_PAUSE;
+  config.alarm_en    = TIMER_ALARM_EN;
+  config.intr_type   = TIMER_INTR_LEVEL;
+  config.auto_reload = true;
+
+  // Select and initialize the timer
+  timer_init(timer.group, timer.idx, &config);
+
+  // Timer counter initial value and auto reload on alarm
+  timer_set_counter_value(timer.group, timer.idx, 0x00000000ULL);
+
+  // Configure the alam value and the interrupt on alarm
+  timer_set_alarm_value(timer.group, timer.idx, (HAL_TIMER_RATE) / timer.divider / frequency - 1);
+
+  timer_enable_intr(timer.group, timer.idx);
+
+  timer_isr_register(timer.group, timer.idx, timer_isr, (void*)(uint32_t)timer_num, 0, nullptr);
+
+  timer_start(timer.group, timer.idx);
+}
+
+/**
+ * Set the upper value of the timer, when the timer reaches this upper value the
+ * interrupt should be triggered and the counter reset
+ * @param timer_num timer number to set the count to
+ * @param count     threshold at which the interrupt is triggered
+ */
+void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t count) {
+  const tTimerConfig timer = TimerConfig[timer_num];
+  timer_set_alarm_value(timer.group, timer.idx, count);
+}
+
+/**
+ * Get the current upper value of the timer
+ * @param  timer_num timer number to get the count from
+ * @return           the timer current threshold for the alarm to be triggered
+ */
+hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
+  const tTimerConfig timer = TimerConfig[timer_num];
+
+  uint64_t alarm_value;
+  timer_get_alarm_value(timer.group, timer.idx, &alarm_value);
+
+  return alarm_value;
+}
+
+/**
+ * Get the current counter value between 0 and the maximum count (HAL_timer_set_count)
+ * @param  timer_num timer number to get the current count
+ * @return           the current counter of the alarm
+ */
+hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
+  const tTimerConfig timer = TimerConfig[timer_num];
+  uint64_t counter_value;
+  timer_get_counter_value(timer.group, timer.idx, &counter_value);
+  return counter_value;
+}
+
+/**
+ * Enable timer interrupt on the timer
+ * @param timer_num timer number to enable interrupts on
+ */
+void HAL_timer_enable_interrupt(const uint8_t timer_num) {
+  //const tTimerConfig timer = TimerConfig[timer_num];
+  //timer_enable_intr(timer.group, timer.idx);
+}
+
+/**
+ * Disable timer interrupt on the timer
+ * @param timer_num timer number to disable interrupts on
+ */
+void HAL_timer_disable_interrupt(const uint8_t timer_num) {
+  //const tTimerConfig timer = TimerConfig[timer_num];
+  //timer_disable_intr(timer.group, timer.idx);
+}
+
+bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
+  const tTimerConfig timer = TimerConfig[timer_num];
+  return TG[timer.group]->int_ena.val | BIT(timer_num);
+}
+
+#endif // ARDUINO_ARCH_ESP32