Initial commit

33 files changed, 2303 insertions, 0 deletions

diff --git a/Marlin/src/HAL/LINUX/HAL.cpp b/Marlin/src/HAL/LINUX/HAL.cpp
new file mode 100644
index 0000000..771f1d2
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/HAL.cpp
@@ -0,0 +1,76 @@
+/**
+ * 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 __PLAT_LINUX__
+
+#include "../../inc/MarlinConfig.h"
+#include "../shared/Delay.h"
+
+MSerialT usb_serial(TERN0(EMERGENCY_PARSER, true));
+
+// U8glib required functions
+extern "C" {
+  void u8g_xMicroDelay(uint16_t val) { DELAY_US(val); }
+  void u8g_MicroDelay()              { u8g_xMicroDelay(1); }
+  void u8g_10MicroDelay()            { u8g_xMicroDelay(10); }
+  void u8g_Delay(uint16_t val)       { delay(val); }
+}
+
+//************************//
+
+// return free heap space
+int freeMemory() {
+  return 0;
+}
+
+// ------------------------
+// ADC
+// ------------------------
+
+void HAL_adc_init() {
+
+}
+
+void HAL_adc_enable_channel(const uint8_t ch) {
+
+}
+
+uint8_t active_ch = 0;
+void HAL_adc_start_conversion(const uint8_t ch) {
+  active_ch = ch;
+}
+
+bool HAL_adc_finished() {
+  return true;
+}
+
+uint16_t HAL_adc_get_result() {
+  pin_t pin = analogInputToDigitalPin(active_ch);
+  if (!VALID_PIN(pin)) return 0;
+  uint16_t data = ((Gpio::get(pin) >> 2) & 0x3FF);
+  return data;    // return 10bit value as Marlin expects
+}
+
+void HAL_pwm_init() {
+
+}
+
+#endif // __PLAT_LINUX__
diff --git a/Marlin/src/HAL/LINUX/HAL.h b/Marlin/src/HAL/LINUX/HAL.h
new file mode 100644
index 0000000..e4f4dd3
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/HAL.h
@@ -0,0 +1,115 @@
+/**
+ * Marlin 3D Printer Firmware
+ *
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.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
+
+#define CPU_32_BIT
+
+#define F_CPU 100000000UL
+#define SystemCoreClock F_CPU
+#include <iostream>
+#include <stdint.h>
+#include <stdarg.h>
+
+#undef min
+#undef max
+
+#include <algorithm>
+
+void _printf (const  char *format, ...);
+void _putc(uint8_t c);
+uint8_t _getc();
+
+//extern "C" volatile uint32_t _millis;
+
+//arduino: Print.h
+#define DEC 10
+#define HEX 16
+#define OCT  8
+#define BIN  2
+//arduino: binary.h (weird defines)
+#define B01 1
+#define B10 2
+
+#include "hardware/Clock.h"
+
+#include "../shared/Marduino.h"
+#include "../shared/math_32bit.h"
+#include "../shared/HAL_SPI.h"
+#include "fastio.h"
+#include "watchdog.h"
+#include "serial.h"
+
+#define SHARED_SERVOS HAS_SERVOS
+
+extern MSerialT usb_serial;
+#define MYSERIAL0 usb_serial
+
+#define ST7920_DELAY_1 DELAY_NS(600)
+#define ST7920_DELAY_2 DELAY_NS(750)
+#define ST7920_DELAY_3 DELAY_NS(750)
+
+//
+// Interrupts
+//
+#define CRITICAL_SECTION_START()
+#define CRITICAL_SECTION_END()
+#define ISRS_ENABLED()
+#define ENABLE_ISRS()
+#define DISABLE_ISRS()
+
+inline void HAL_init() {}
+
+// Utility functions
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic push
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+int freeMemory();
+
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic pop
+#endif
+
+// ADC
+#define HAL_ADC_VREF           5.0
+#define HAL_ADC_RESOLUTION    10
+#define HAL_ANALOG_SELECT(ch) HAL_adc_enable_channel(ch)
+#define HAL_START_ADC(ch)     HAL_adc_start_conversion(ch)
+#define HAL_READ_ADC()        HAL_adc_get_result()
+#define HAL_ADC_READY()       true
+
+void HAL_adc_init();
+void HAL_adc_enable_channel(const uint8_t ch);
+void HAL_adc_start_conversion(const uint8_t ch);
+uint16_t HAL_adc_get_result();
+
+// Reset source
+inline void HAL_clear_reset_source(void) {}
+inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }
+
+inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+
+/* ---------------- Delay in cycles */
+FORCE_INLINE static void DELAY_CYCLES(uint64_t x) {
+  Clock::delayCycles(x);
+}
diff --git a/Marlin/src/HAL/LINUX/arduino.cpp b/Marlin/src/HAL/LINUX/arduino.cpp
new file mode 100644
index 0000000..4b56d02
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/arduino.cpp
@@ -0,0 +1,101 @@
+/**
+ * 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 __PLAT_LINUX__
+
+#include <iostream>
+#include "../../inc/MarlinConfig.h"
+#include "hardware/Clock.h"
+#include "../shared/Delay.h"
+
+// Interrupts
+void cli() { } // Disable
+void sei() { } // Enable
+
+// Time functions
+void _delay_ms(const int delay_ms) {
+  delay(delay_ms);
+}
+
+uint32_t millis() {
+  return (uint32_t)Clock::millis();
+}
+
+// This is required for some Arduino libraries we are using
+void delayMicroseconds(uint32_t us) {
+  Clock::delayMicros(us);
+}
+
+extern "C" void delay(const int msec) {
+  Clock::delayMillis(msec);
+}
+
+// IO functions
+// As defined by Arduino INPUT(0x0), OUTPUT(0x1), INPUT_PULLUP(0x2)
+void pinMode(const pin_t pin, const uint8_t mode) {
+  if (!VALID_PIN(pin)) return;
+  Gpio::setMode(pin, mode);
+}
+
+void digitalWrite(pin_t pin, uint8_t pin_status) {
+  if (!VALID_PIN(pin)) return;
+  Gpio::set(pin, pin_status);
+}
+
+bool digitalRead(pin_t pin) {
+  if (!VALID_PIN(pin)) return false;
+  return Gpio::get(pin);
+}
+
+void analogWrite(pin_t pin, int pwm_value) {  // 1 - 254: pwm_value, 0: LOW, 255: HIGH
+  if (!VALID_PIN(pin)) return;
+  Gpio::set(pin, pwm_value);
+}
+
+uint16_t analogRead(pin_t adc_pin) {
+  if (!VALID_PIN(DIGITAL_PIN_TO_ANALOG_PIN(adc_pin))) return 0;
+  return Gpio::get(DIGITAL_PIN_TO_ANALOG_PIN(adc_pin));
+}
+
+char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s) {
+  char format_string[20];
+  snprintf(format_string, 20, "%%%d.%df", __width, __prec);
+  sprintf(__s, format_string, __val);
+  return __s;
+}
+
+int32_t random(int32_t max) {
+  return rand() % max;
+}
+
+int32_t random(int32_t min, int32_t max) {
+  return min + rand() % (max - min);
+}
+
+void randomSeed(uint32_t value) {
+  srand(value);
+}
+
+int map(uint16_t x, uint16_t in_min, uint16_t in_max, uint16_t out_min, uint16_t out_max) {
+  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
+
+#endif // __PLAT_LINUX__
diff --git a/Marlin/src/HAL/LINUX/eeprom.cpp b/Marlin/src/HAL/LINUX/eeprom.cpp
new file mode 100644
index 0000000..532f323
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/eeprom.cpp
@@ -0,0 +1,104 @@
+/**
+ * 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 __PLAT_LINUX__
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(EEPROM_SETTINGS)
+
+#include "../shared/eeprom_api.h"
+#include <stdio.h>
+
+#ifndef MARLIN_EEPROM_SIZE
+  #define MARLIN_EEPROM_SIZE 0x1000 // 4KB of Emulated EEPROM
+#endif
+
+uint8_t buffer[MARLIN_EEPROM_SIZE];
+char filename[] = "eeprom.dat";
+
+size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; }
+
+bool PersistentStore::access_start() {
+  const char eeprom_erase_value = 0xFF;
+  FILE * eeprom_file = fopen(filename, "rb");
+  if (!eeprom_file) return false;
+
+  fseek(eeprom_file, 0L, SEEK_END);
+  std::size_t file_size = ftell(eeprom_file);
+
+  if (file_size < MARLIN_EEPROM_SIZE) {
+    memset(buffer + file_size, eeprom_erase_value, MARLIN_EEPROM_SIZE - file_size);
+  }
+  else {
+    fseek(eeprom_file, 0L, SEEK_SET);
+    fread(buffer, sizeof(uint8_t), sizeof(buffer), eeprom_file);
+  }
+
+  fclose(eeprom_file);
+  return true;
+}
+
+bool PersistentStore::access_finish() {
+  FILE * eeprom_file = fopen(filename, "wb");
+  if (!eeprom_file) return false;
+  fwrite(buffer, sizeof(uint8_t), sizeof(buffer), eeprom_file);
+  fclose(eeprom_file);
+  return true;
+}
+
+bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
+  std::size_t bytes_written = 0;
+
+  for (std::size_t i = 0; i < size; i++) {
+    buffer[pos+i] = value[i];
+    bytes_written ++;
+  }
+
+  crc16(crc, value, size);
+  pos = pos + size;
+  return (bytes_written != size);  // return true for any error
+}
+
+bool PersistentStore::read_data(int &pos, uint8_t *value, const size_t size, uint16_t *crc, const bool writing/*=true*/) {
+  std::size_t bytes_read = 0;
+  if (writing) {
+    for (std::size_t i = 0; i < size; i++) {
+      value[i] = buffer[pos+i];
+      bytes_read ++;
+    }
+    crc16(crc, value, size);
+  }
+  else {
+    uint8_t temp[size];
+    for (std::size_t i = 0; i < size; i++) {
+      temp[i] = buffer[pos+i];
+      bytes_read ++;
+    }
+    crc16(crc, temp, size);
+  }
+
+  pos = pos + size;
+  return bytes_read != size;  // return true for any error
+}
+
+#endif // EEPROM_SETTINGS
+#endif // __PLAT_LINUX__
diff --git a/Marlin/src/HAL/LINUX/fastio.h b/Marlin/src/HAL/LINUX/fastio.h
new file mode 100644
index 0000000..4567c62
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/fastio.h
@@ -0,0 +1,111 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+/**
+ * Fast I/O Routines for X86_64
+ */
+
+#include "../shared/Marduino.h"
+#include <pinmapping.h>
+
+#define SET_DIR_INPUT(IO)     Gpio::setDir(IO, 1)
+#define SET_DIR_OUTPUT(IO)    Gpio::setDir(IO, 0)
+
+#define SET_MODE(IO, mode)    Gpio::setMode(IO, mode)
+
+#define WRITE_PIN_SET(IO)     Gpio::set(IO)
+#define WRITE_PIN_CLR(IO)     Gpio::clear(IO)
+
+#define READ_PIN(IO)          Gpio::get(IO)
+#define WRITE_PIN(IO,V)       Gpio::set(IO, V)
+
+/**
+ * Magic I/O routines
+ *
+ * Now you can simply SET_OUTPUT(STEP); WRITE(STEP, HIGH); WRITE(STEP, LOW);
+ *
+ * Why double up on these macros? see https://gcc.gnu.org/onlinedocs/gcc-4.8.5/cpp/Stringification.html
+ */
+
+/// Read a pin
+#define _READ(IO)             READ_PIN(IO)
+
+/// Write to a pin
+#define _WRITE(IO,V)          WRITE_PIN(IO,V)
+
+/// toggle a pin
+#define _TOGGLE(IO)          _WRITE(IO, !READ(IO))
+
+/// set pin as input
+#define _SET_INPUT(IO)        SET_DIR_INPUT(IO)
+
+/// set pin as output
+#define _SET_OUTPUT(IO)       SET_DIR_OUTPUT(IO)
+
+/// set pin as input with pullup mode
+#define _PULLUP(IO,V)         pinMode(IO, (V) ? INPUT_PULLUP : INPUT)
+
+/// set pin as input with pulldown mode
+#define _PULLDOWN(IO,V)       pinMode(IO, (V) ? INPUT_PULLDOWN : INPUT)
+
+// hg42: all pins can be input or output (I hope)
+// hg42: undefined pins create compile error (IO, is no pin)
+// hg42: currently not used, but was used by pinsDebug
+
+/// check if pin is an input
+#define _IS_INPUT(IO)         (LPC1768_PIN_PIN(IO) >= 0)
+
+/// check if pin is an output
+#define _IS_OUTPUT(IO)        (LPC1768_PIN_PIN(IO) >= 0)
+
+/// Read a pin wrapper
+#define READ(IO)             _READ(IO)
+
+/// Write to a pin wrapper
+#define WRITE(IO,V)          _WRITE(IO,V)
+
+/// toggle a pin wrapper
+#define TOGGLE(IO)           _TOGGLE(IO)
+
+/// set pin as input wrapper
+#define SET_INPUT(IO)        _SET_INPUT(IO)
+/// set pin as input with pullup wrapper
+#define SET_INPUT_PULLUP(IO)  do{ _SET_INPUT(IO); _PULLUP(IO, HIGH); }while(0)
+/// set pin as input with pulldown wrapper
+#define SET_INPUT_PULLDOWN(IO) do{ _SET_INPUT(IO); _PULLDOWN(IO, HIGH); }while(0)
+/// set pin as output wrapper  -  reads the pin and sets the output to that value
+#define SET_OUTPUT(IO)        do{ _WRITE(IO, _READ(IO)); _SET_OUTPUT(IO); }while(0)
+// set pin as PWM
+#define SET_PWM(IO)           SET_OUTPUT(IO)
+
+/// check if pin is an input wrapper
+#define IS_INPUT(IO)         _IS_INPUT(IO)
+/// check if pin is an output wrapper
+#define IS_OUTPUT(IO)        _IS_OUTPUT(IO)
+
+// Shorthand
+#define OUT_WRITE(IO,V)       do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0)
+
+// digitalRead/Write wrappers
+#define extDigitalRead(IO)    digitalRead(IO)
+#define extDigitalWrite(IO,V) digitalWrite(IO,V)
diff --git a/Marlin/src/HAL/LINUX/hardware/Clock.cpp b/Marlin/src/HAL/LINUX/hardware/Clock.cpp
new file mode 100644
index 0000000..1984a4a
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/hardware/Clock.cpp
@@ -0,0 +1,31 @@
+/**
+ * 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 __PLAT_LINUX__
+
+#include "../../../inc/MarlinConfig.h"
+#include "Clock.h"
+
+std::chrono::nanoseconds Clock::startup = std::chrono::high_resolution_clock::now().time_since_epoch();
+uint32_t Clock::frequency = F_CPU;
+double Clock::time_multiplier = 1.0;
+
+#endif // __PLAT_LINUX__
diff --git a/Marlin/src/HAL/LINUX/hardware/Clock.h b/Marlin/src/HAL/LINUX/hardware/Clock.h
new file mode 100644
index 0000000..072eacf
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/hardware/Clock.h
@@ -0,0 +1,89 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+#include <chrono>
+#include <thread>
+
+class Clock {
+public:
+  static uint64_t ticks(uint32_t frequency = Clock::frequency) {
+    return (Clock::nanos() - Clock::startup.count()) / (1000000000ULL / frequency);
+  }
+
+  static uint64_t nanosToTicks(uint64_t ns, uint32_t frequency = Clock::frequency) {
+    return ns / (1000000000ULL / frequency);
+  }
+
+  // Time acceleration compensated
+  static uint64_t ticksToNanos(uint64_t tick, uint32_t frequency = Clock::frequency) {
+    return (tick * (1000000000ULL / frequency)) / Clock::time_multiplier;
+  }
+
+  static void setFrequency(uint32_t freq) {
+    Clock::frequency = freq;
+  }
+
+  // Time Acceleration compensated
+  static uint64_t nanos() {
+    auto now = std::chrono::high_resolution_clock::now().time_since_epoch();
+    return (now.count() - Clock::startup.count()) * Clock::time_multiplier;
+  }
+
+  static uint64_t micros() {
+    return Clock::nanos() / 1000;
+  }
+
+  static uint64_t millis() {
+    return Clock::micros() / 1000;
+  }
+
+  static double seconds() {
+    return Clock::nanos() / 1000000000.0;
+  }
+
+  static void delayCycles(uint64_t cycles) {
+    std::this_thread::sleep_for(std::chrono::nanoseconds( (1000000000L / frequency) * cycles) / Clock::time_multiplier );
+  }
+
+  static void delayMicros(uint64_t micros) {
+    std::this_thread::sleep_for(std::chrono::microseconds( micros ) / Clock::time_multiplier);
+  }
+
+  static void delayMillis(uint64_t millis) {
+    std::this_thread::sleep_for(std::chrono::milliseconds( millis ) / Clock::time_multiplier);
+  }
+
+  static void delaySeconds(double secs) {
+    std::this_thread::sleep_for(std::chrono::duration<double, std::milli>(secs * 1000) / Clock::time_multiplier);
+  }
+
+  // Will reduce timer resolution increasing likelihood of overflows
+  static void setTimeMultiplier(double tm) {
+    Clock::time_multiplier = tm;
+  }
+
+private:
+  static std::chrono::nanoseconds startup;
+  static uint32_t frequency;
+  static double time_multiplier;
+};
diff --git a/Marlin/src/HAL/LINUX/hardware/Gpio.cpp b/Marlin/src/HAL/LINUX/hardware/Gpio.cpp
new file mode 100644
index 0000000..61a7be7
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/hardware/Gpio.cpp
@@ -0,0 +1,29 @@
+/**
+ * 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 __PLAT_LINUX__
+
+#include "Gpio.h"
+
+pin_data Gpio::pin_map[Gpio::pin_count+1] = {};
+IOLogger* Gpio::logger = nullptr;
+
+#endif // __PLAT_LINUX__
diff --git a/Marlin/src/HAL/LINUX/hardware/Gpio.h b/Marlin/src/HAL/LINUX/hardware/Gpio.h
new file mode 100644
index 0000000..2d9b1f2
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/hardware/Gpio.h
@@ -0,0 +1,141 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+#include "Clock.h"
+#include "../../../inc/MarlinConfigPre.h"
+#include <stdint.h>
+
+typedef int16_t pin_type;
+
+struct GpioEvent {
+  enum Type {
+    NOP,
+    FALL,
+    RISE,
+    SET_VALUE,
+    SETM,
+    SETD
+  };
+  uint64_t timestamp;
+  pin_type pin_id;
+  GpioEvent::Type event;
+
+  GpioEvent(uint64_t timestamp, pin_type pin_id, GpioEvent::Type event){
+    this->timestamp = timestamp;
+    this->pin_id = pin_id;
+    this->event = event;
+  }
+};
+
+class IOLogger {
+public:
+  virtual ~IOLogger(){};
+  virtual void log(GpioEvent ev) = 0;
+};
+
+class Peripheral {
+public:
+  virtual ~Peripheral(){};
+  virtual void interrupt(GpioEvent ev) = 0;
+  virtual void update() = 0;
+};
+
+struct pin_data {
+  uint8_t dir;
+  uint8_t mode;
+  uint16_t value;
+  Peripheral* cb;
+};
+
+class Gpio {
+public:
+
+  static const pin_type pin_count = 255;
+  static pin_data pin_map[pin_count+1];
+
+  static bool valid_pin(pin_type pin) {
+    return pin >= 0 && pin <= pin_count;
+  }
+
+  static void set(pin_type pin) {
+    set(pin, 1);
+  }
+
+  static void set(pin_type pin, uint16_t value) {
+    if (!valid_pin(pin)) return;
+    GpioEvent::Type evt_type = value > 1 ? GpioEvent::SET_VALUE : value > pin_map[pin].value ? GpioEvent::RISE : value < pin_map[pin].value ? GpioEvent::FALL : GpioEvent::NOP;
+    pin_map[pin].value = value;
+    GpioEvent evt(Clock::nanos(), pin, evt_type);
+    if (pin_map[pin].cb) {
+      pin_map[pin].cb->interrupt(evt);
+    }
+    if (Gpio::logger) Gpio::logger->log(evt);
+  }
+
+  static uint16_t get(pin_type pin) {
+    if (!valid_pin(pin)) return 0;
+    return pin_map[pin].value;
+  }
+
+  static void clear(pin_type pin) {
+    set(pin, 0);
+  }
+
+  static void setMode(pin_type pin, uint8_t value) {
+    if (!valid_pin(pin)) return;
+    pin_map[pin].mode = value;
+    GpioEvent evt(Clock::nanos(), pin, GpioEvent::Type::SETM);
+    if (pin_map[pin].cb) pin_map[pin].cb->interrupt(evt);
+    if (Gpio::logger) Gpio::logger->log(evt);
+  }
+
+  static uint8_t getMode(pin_type pin) {
+    if (!valid_pin(pin)) return 0;
+    return pin_map[pin].mode;
+  }
+
+  static void setDir(pin_type pin, uint8_t value) {
+    if (!valid_pin(pin)) return;
+    pin_map[pin].dir = value;
+    GpioEvent evt(Clock::nanos(), pin, GpioEvent::Type::SETD);
+    if (pin_map[pin].cb) pin_map[pin].cb->interrupt(evt);
+    if (Gpio::logger) Gpio::logger->log(evt);
+  }
+
+  static uint8_t getDir(pin_type pin) {
+    if (!valid_pin(pin)) return 0;
+    return pin_map[pin].dir;
+  }
+
+  static void attachPeripheral(pin_type pin, Peripheral* per) {
+    if (!valid_pin(pin)) return;
+    pin_map[pin].cb = per;
+  }
+
+  static void attachLogger(IOLogger* logger) {
+    Gpio::logger = logger;
+  }
+
+private:
+  static IOLogger* logger;
+};
diff --git a/Marlin/src/HAL/LINUX/hardware/Heater.cpp b/Marlin/src/HAL/LINUX/hardware/Heater.cpp
new file mode 100644
index 0000000..70df816
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/hardware/Heater.cpp
@@ -0,0 +1,60 @@
+/**
+ * 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 __PLAT_LINUX__
+
+#include "Clock.h"
+#include <stdio.h>
+#include "../../../inc/MarlinConfig.h"
+
+#include "Heater.h"
+
+Heater::Heater(pin_t heater, pin_t adc) {
+  heater_state = 0;
+  room_temp_raw = 150;
+  last = Clock::micros();
+  heater_pin = heater;
+  adc_pin = adc;
+  heat = 0.0;
+}
+
+Heater::~Heater() {
+}
+
+void Heater::update() {
+  // crude pwm read and cruder heat simulation
+  auto now = Clock::micros();
+  double delta = (now - last);
+  if (delta > 1000 ) {
+    heater_state = pwmcap.update(0xFFFF * Gpio::pin_map[heater_pin].value);
+    last = now;
+    heat += (heater_state - heat) * (delta / 1000000000.0);
+
+    NOLESS(heat, room_temp_raw);
+    Gpio::pin_map[analogInputToDigitalPin(adc_pin)].value = 0xFFFF - (uint16_t)heat;
+  }
+}
+
+void Heater::interrupt(GpioEvent ev) {
+  // ununsed
+}
+
+#endif // __PLAT_LINUX__
diff --git a/Marlin/src/HAL/LINUX/hardware/Heater.h b/Marlin/src/HAL/LINUX/hardware/Heater.h
new file mode 100644
index 0000000..b17078d
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/hardware/Heater.h
@@ -0,0 +1,47 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+#include "Gpio.h"
+
+struct LowpassFilter {
+  uint64_t data_delay = 0;
+  uint16_t update(uint16_t value) {
+    data_delay = data_delay - (data_delay >> 6) + value;
+    return (uint16_t)(data_delay >> 6);
+  }
+};
+
+class Heater: public Peripheral {
+public:
+  Heater(pin_t heater, pin_t adc);
+  virtual ~Heater();
+  void interrupt(GpioEvent ev);
+  void update();
+
+  pin_t heater_pin, adc_pin;
+  uint16_t room_temp_raw;
+  uint16_t heater_state;
+  LowpassFilter pwmcap;
+  double heat;
+  uint64_t last;
+};
diff --git a/Marlin/src/HAL/LINUX/hardware/IOLoggerCSV.cpp b/Marlin/src/HAL/LINUX/hardware/IOLoggerCSV.cpp
new file mode 100644
index 0000000..c11fd1f
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/hardware/IOLoggerCSV.cpp
@@ -0,0 +1,49 @@
+/**
+ * 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 __PLAT_LINUX__
+
+#include "IOLoggerCSV.h"
+
+IOLoggerCSV::IOLoggerCSV(std::string filename) {
+  file.open(filename);
+}
+
+IOLoggerCSV::~IOLoggerCSV() {
+  file.close();
+}
+
+void IOLoggerCSV::log(GpioEvent ev) {
+  std::lock_guard<std::mutex> lock(vector_lock);
+  events.push_back(ev); //minimal impact to signal handler
+}
+
+void IOLoggerCSV::flush() {
+  { std::lock_guard<std::mutex> lock(vector_lock);
+    while (!events.empty()) {
+      file << events.front().timestamp << ", "<< events.front().pin_id << ", " << events.front().event << std::endl;
+      events.pop_front();
+    }
+  }
+  file.flush();
+}
+
+#endif // __PLAT_LINUX__
diff --git a/Marlin/src/HAL/LINUX/hardware/IOLoggerCSV.h b/Marlin/src/HAL/LINUX/hardware/IOLoggerCSV.h
new file mode 100644
index 0000000..d8fe738
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/hardware/IOLoggerCSV.h
@@ -0,0 +1,40 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+#include <mutex>
+#include <list>
+#include <fstream>
+#include "Gpio.h"
+
+class IOLoggerCSV: public IOLogger {
+public:
+  IOLoggerCSV(std::string filename);
+  virtual ~IOLoggerCSV();
+  void flush();
+  void log(GpioEvent ev);
+
+private:
+  std::ofstream file;
+  std::list<GpioEvent> events;
+  std::mutex vector_lock;
+};
diff --git a/Marlin/src/HAL/LINUX/hardware/LinearAxis.cpp b/Marlin/src/HAL/LINUX/hardware/LinearAxis.cpp
new file mode 100644
index 0000000..c5b3ccc
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/hardware/LinearAxis.cpp
@@ -0,0 +1,65 @@
+/**
+ * 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 __PLAT_LINUX__
+
+#include <random>
+#include <stdio.h>
+#include "Clock.h"
+#include "LinearAxis.h"
+
+LinearAxis::LinearAxis(pin_type enable, pin_type dir, pin_type step, pin_type end_min, pin_type end_max) {
+  enable_pin = enable;
+  dir_pin = dir;
+  step_pin = step;
+  min_pin = end_min;
+  max_pin = end_max;
+
+  min_position = 50;
+  max_position = (200*80) + min_position;
+  position = rand() % ((max_position - 40) - min_position) + (min_position + 20);
+  last_update = Clock::nanos();
+
+  Gpio::attachPeripheral(step_pin, this);
+
+}
+
+LinearAxis::~LinearAxis() {
+
+}
+
+void LinearAxis::update() {
+
+}
+
+void LinearAxis::interrupt(GpioEvent ev) {
+  if (ev.pin_id == step_pin && !Gpio::pin_map[enable_pin].value){
+    if (ev.event == GpioEvent::RISE) {
+      last_update = ev.timestamp;
+      position += -1 + 2 * Gpio::pin_map[dir_pin].value;
+      Gpio::pin_map[min_pin].value = (position < min_position);
+      //Gpio::pin_map[max_pin].value = (position > max_position);
+      //if (position < min_position) printf("axis(%d) endstop : pos: %d, mm: %f, min: %d\n", step_pin, position, position / 80.0, Gpio::pin_map[min_pin].value);
+    }
+  }
+}
+
+#endif // __PLAT_LINUX__
diff --git a/Marlin/src/HAL/LINUX/hardware/LinearAxis.h b/Marlin/src/HAL/LINUX/hardware/LinearAxis.h
new file mode 100644
index 0000000..34541e7
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/hardware/LinearAxis.h
@@ -0,0 +1,45 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+#include <chrono>
+#include "Gpio.h"
+
+class LinearAxis: public Peripheral {
+public:
+  LinearAxis(pin_type enable, pin_type dir, pin_type step, pin_type end_min, pin_type end_max);
+  virtual ~LinearAxis();
+  void update();
+  void interrupt(GpioEvent ev);
+
+  pin_type enable_pin;
+  pin_type dir_pin;
+  pin_type step_pin;
+  pin_type min_pin;
+  pin_type max_pin;
+
+  int32_t position;
+  int32_t min_position;
+  int32_t max_position;
+  uint64_t last_update;
+
+};
diff --git a/Marlin/src/HAL/LINUX/hardware/Timer.cpp b/Marlin/src/HAL/LINUX/hardware/Timer.cpp
new file mode 100644
index 0000000..9f0d6a8
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/hardware/Timer.cpp
@@ -0,0 +1,117 @@
+/**
+ * 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 __PLAT_LINUX__
+
+#include "Timer.h"
+#include <stdio.h>
+
+Timer::Timer() {
+  active = false;
+  compare = 0;
+  frequency = 0;
+  overruns = 0;
+  timerid = 0;
+  cbfn = nullptr;
+  period = 0;
+  start_time = 0;
+  avg_error = 0;
+}
+
+Timer::~Timer() {
+  timer_delete(timerid);
+}
+
+void Timer::init(uint32_t sig_id, uint32_t sim_freq, callback_fn* fn) {
+  struct sigaction sa;
+  struct sigevent sev;
+
+  frequency = sim_freq;
+  cbfn = fn;
+
+  sa.sa_flags = SA_SIGINFO;
+  sa.sa_sigaction = Timer::handler;
+  sigemptyset(&sa.sa_mask);
+  if (sigaction(SIGRTMIN, &sa, nullptr) == -1) {
+    return; // todo: handle error
+  }
+
+  sigemptyset(&mask);
+  sigaddset(&mask, SIGRTMIN);
+
+  disable();
+
+  sev.sigev_notify = SIGEV_SIGNAL;
+  sev.sigev_signo = SIGRTMIN;
+  sev.sigev_value.sival_ptr = (void*)this;
+  if (timer_create(CLOCK_REALTIME, &sev, &timerid) == -1) {
+    return; // todo: handle error
+  }
+}
+
+void Timer::start(uint32_t frequency) {
+  setCompare(this->frequency / frequency);
+  //printf("timer(%ld) started\n", getID());
+}
+
+void Timer::enable() {
+  if (sigprocmask(SIG_UNBLOCK, &mask, nullptr) == -1) {
+    return; // todo: handle error
+  }
+  active = true;
+  //printf("timer(%ld) enabled\n", getID());
+}
+
+void Timer::disable() {
+  if (sigprocmask(SIG_SETMASK, &mask, nullptr) == -1) {
+    return; // todo: handle error
+  }
+  active = false;
+}
+
+void Timer::setCompare(uint32_t compare) {
+  uint32_t nsec_offset = 0;
+  if (active) {
+    nsec_offset = Clock::nanos() - this->start_time; // calculate how long the timer would have been running for
+    nsec_offset = nsec_offset < 1000 ? nsec_offset : 0; // constrain, this shouldn't be needed but apparently Marlin enables interrupts on the stepper timer before initialising it, todo: investigate ?bug?
+  }
+  this->compare = compare;
+  uint64_t ns = Clock::ticksToNanos(compare, frequency) - nsec_offset;
+  struct itimerspec its;
+  its.it_value.tv_sec = ns / 1000000000;
+  its.it_value.tv_nsec = ns % 1000000000;
+  its.it_interval.tv_sec = its.it_value.tv_sec;
+  its.it_interval.tv_nsec = its.it_value.tv_nsec;
+
+  if (timer_settime(timerid, 0, &its, nullptr) == -1) {
+    printf("timer(%ld) failed, compare: %d(%ld)\n", getID(), compare, its.it_value.tv_nsec);
+    return; // todo: handle error
+  }
+  //printf("timer(%ld) started, compare: %d(%d)\n", getID(), compare, its.it_value.tv_nsec);
+  this->period = its.it_value.tv_nsec;
+  this->start_time = Clock::nanos();
+}
+
+uint32_t Timer::getCount() {
+  return Clock::nanosToTicks(Clock::nanos() - this->start_time, frequency);
+}
+
+#endif // __PLAT_LINUX__
diff --git a/Marlin/src/HAL/LINUX/hardware/Timer.h b/Marlin/src/HAL/LINUX/hardware/Timer.h
new file mode 100644
index 0000000..757efdc
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/hardware/Timer.h
@@ -0,0 +1,76 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <signal.h>
+#include <time.h>
+#include <stdio.h>
+
+#include "Clock.h"
+
+class Timer {
+public:
+  Timer();
+  virtual ~Timer();
+
+  typedef void (callback_fn)();
+
+  void init(uint32_t sig_id, uint32_t sim_freq, callback_fn* fn);
+  void start(uint32_t frequency);
+  void enable();
+  bool enabled() {return active;}
+  void disable();
+  void setCompare(uint32_t compare);
+  uint32_t getCount();
+  uint32_t getCompare() {return compare;}
+  uint32_t getOverruns() {return overruns;}
+  uint32_t getAvgError() {return avg_error;}
+
+  intptr_t getID() {
+    return (*(intptr_t*)timerid);
+  }
+
+  static void handler(int sig, siginfo_t *si, void *uc){
+    Timer* _this = (Timer*)si->si_value.sival_ptr;
+    _this->avg_error += (Clock::nanos() - _this->start_time) - _this->period; //high_resolution_clock is also limited in precision, but best we have
+    _this->avg_error /= 2; //very crude precision analysis (actually within +-500ns usually)
+    _this->start_time = Clock::nanos(); // wrap
+    _this->cbfn();
+    _this->overruns += timer_getoverrun(_this->timerid); // even at 50Khz this doesn't stay zero, again demonstrating the limitations
+                                                         // using a realtime linux kernel would help somewhat
+  }
+
+private:
+  bool active;
+  uint32_t compare;
+  uint32_t frequency;
+  uint32_t overruns;
+  timer_t timerid;
+  sigset_t mask;
+  callback_fn* cbfn;
+  uint64_t period;
+  uint64_t avg_error;
+  uint64_t start_time;
+};
diff --git a/Marlin/src/HAL/LINUX/inc/Conditionals_LCD.h b/Marlin/src/HAL/LINUX/inc/Conditionals_LCD.h
new file mode 100644
index 0000000..99a6fc2
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/inc/Conditionals_LCD.h
@@ -0,0 +1,26 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+#if HAS_SPI_TFT || HAS_FSMC_TFT
+  #error "Sorry! TFT displays are not available for HAL/LINUX."
+#endif
diff --git a/Marlin/src/HAL/LINUX/inc/Conditionals_adv.h b/Marlin/src/HAL/LINUX/inc/Conditionals_adv.h
new file mode 100644
index 0000000..5f1c4b1
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/inc/Conditionals_adv.h
@@ -0,0 +1,22 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
diff --git a/Marlin/src/HAL/LINUX/inc/Conditionals_post.h b/Marlin/src/HAL/LINUX/inc/Conditionals_post.h
new file mode 100644
index 0000000..5f1c4b1
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/inc/Conditionals_post.h
@@ -0,0 +1,22 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
diff --git a/Marlin/src/HAL/LINUX/inc/SanityCheck.h b/Marlin/src/HAL/LINUX/inc/SanityCheck.h
new file mode 100644
index 0000000..84167c9
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/inc/SanityCheck.h
@@ -0,0 +1,39 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+/**
+ * Test X86_64-specific configuration values for errors at compile-time.
+ */
+
+// Emulating RAMPS
+#if ENABLED(SPINDLE_LASER_PWM) && !(SPINDLE_LASER_PWM_PIN == 4 || SPINDLE_LASER_PWM_PIN == 6 || SPINDLE_LASER_PWM_PIN == 11)
+  #error "SPINDLE_LASER_PWM_PIN must use SERVO0, SERVO1 or SERVO3 connector"
+#endif
+
+#if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY
+  #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on LINUX."
+#endif
+
+#if HAS_TMC_SW_SERIAL
+  #error "TMC220x Software Serial is not supported on this platform."
+#endif
diff --git a/Marlin/src/HAL/LINUX/include/Arduino.h b/Marlin/src/HAL/LINUX/include/Arduino.h
new file mode 100644
index 0000000..d4086e2
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/include/Arduino.h
@@ -0,0 +1,95 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+#include <stddef.h>
+#include <stdint.h>
+#include <math.h>
+#include <cstring>
+
+#include <pinmapping.h>
+
+#define HIGH         0x01
+#define LOW          0x00
+
+#define INPUT          0x00
+#define OUTPUT         0x01
+#define INPUT_PULLUP   0x02
+#define INPUT_PULLDOWN 0x03
+
+#define LSBFIRST     0
+#define MSBFIRST     1
+
+#define CHANGE       0x02
+#define FALLING      0x03
+#define RISING       0x04
+
+typedef uint8_t byte;
+#define PROGMEM
+#define PSTR(v) (v)
+#define PGM_P const char *
+
+// Used for libraries, preprocessor, and constants
+#define abs(x) ((x)>0?(x):-(x))
+
+#ifndef isnan
+  #define isnan std::isnan
+#endif
+#ifndef isinf
+  #define isinf std::isinf
+#endif
+
+#define sq(v) ((v) * (v))
+#define square(v) sq(v)
+#define constrain(value, arg_min, arg_max) ((value) < (arg_min) ? (arg_min) :((value) > (arg_max) ? (arg_max) : (value)))
+
+//Interrupts
+void cli(); // Disable
+void sei(); // Enable
+void attachInterrupt(uint32_t pin, void (*callback)(), uint32_t mode);
+void detachInterrupt(uint32_t pin);
+
+extern "C" {
+  void GpioEnableInt(uint32_t port, uint32_t pin, uint32_t mode);
+  void GpioDisableInt(uint32_t port, uint32_t pin);
+}
+
+// Time functions
+extern "C" void delay(const int milis);
+void _delay_ms(const int delay);
+void delayMicroseconds(unsigned long);
+uint32_t millis();
+
+//IO functions
+void pinMode(const pin_t, const uint8_t);
+void digitalWrite(pin_t, uint8_t);
+bool digitalRead(pin_t);
+void analogWrite(pin_t, int);
+uint16_t analogRead(pin_t);
+
+int32_t random(int32_t);
+int32_t random(int32_t, int32_t);
+void randomSeed(uint32_t);
+
+char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s);
+
+int map(uint16_t x, uint16_t in_min, uint16_t in_max, uint16_t out_min, uint16_t out_max);
diff --git a/Marlin/src/HAL/LINUX/include/pinmapping.cpp b/Marlin/src/HAL/LINUX/include/pinmapping.cpp
new file mode 100644
index 0000000..870ab3a
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/include/pinmapping.cpp
@@ -0,0 +1,69 @@
+/**
+ * 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 __PLAT_LINUX__
+
+#include <pinmapping.h>
+
+#include "../../../gcode/parser.h"
+
+uint8_t analog_offset = NUM_DIGITAL_PINS - NUM_ANALOG_INPUTS;
+
+// Get the digital pin for an analog index
+pin_t analogInputToDigitalPin(const int8_t p) {
+  return (WITHIN(p, 0, NUM_ANALOG_INPUTS) ? analog_offset + p : P_NC);
+}
+
+// Return the index of a pin number
+int16_t GET_PIN_MAP_INDEX(const pin_t pin) {
+  return pin;
+}
+
+// Test whether the pin is valid
+bool VALID_PIN(const pin_t p) {
+  return WITHIN(p, 0, NUM_DIGITAL_PINS);
+}
+
+// Get the analog index for a digital pin
+int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p) {
+  return (WITHIN(p, analog_offset, NUM_DIGITAL_PINS) ? p - analog_offset : P_NC);
+}
+
+// Test whether the pin is PWM
+bool PWM_PIN(const pin_t p) {
+  return false;
+}
+
+// Test whether the pin is interruptable
+bool INTERRUPT_PIN(const pin_t p) {
+  return false;
+}
+
+// Get the pin number at the given index
+pin_t GET_PIN_MAP_PIN(const int16_t ind) {
+  return ind;
+}
+
+int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
+  return parser.intval(code, dval);
+}
+
+#endif // __PLAT_LINUX__
diff --git a/Marlin/src/HAL/LINUX/include/pinmapping.h b/Marlin/src/HAL/LINUX/include/pinmapping.h
new file mode 100644
index 0000000..98f4b81
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/include/pinmapping.h
@@ -0,0 +1,59 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+#include "../../../inc/MarlinConfigPre.h"
+
+#include <stdint.h>
+#include "../hardware/Gpio.h"
+
+typedef pin_type pin_t;
+
+#define P_NC -1
+constexpr uint16_t NUM_DIGITAL_PINS = Gpio::pin_count;
+constexpr uint8_t NUM_ANALOG_INPUTS = 16;
+
+#define HAL_SENSITIVE_PINS
+
+// Get the digital pin for an analog index
+pin_t analogInputToDigitalPin(const int8_t p);
+
+// Return the index of a pin number
+int16_t GET_PIN_MAP_INDEX(const pin_t pin);
+
+// Test whether the pin is valid
+bool VALID_PIN(const pin_t p);
+
+// Get the analog index for a digital pin
+int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p);
+
+// Test whether the pin is PWM
+bool PWM_PIN(const pin_t p);
+
+// Test whether the pin is interruptable
+bool INTERRUPT_PIN(const pin_t p);
+
+// Get the pin number at the given index
+pin_t GET_PIN_MAP_PIN(const int16_t ind);
+
+// Parse a G-code word into a pin index
+int16_t PARSED_PIN_INDEX(const char code, const int16_t dval);
diff --git a/Marlin/src/HAL/LINUX/include/serial.h b/Marlin/src/HAL/LINUX/include/serial.h
new file mode 100644
index 0000000..2585be2
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/include/serial.h
@@ -0,0 +1,118 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+#include "../../../inc/MarlinConfigPre.h"
+#if ENABLED(EMERGENCY_PARSER)
+  #include "../../../feature/e_parser.h"
+#endif
+#include "../../../core/serial_hook.h"
+
+#include <stdarg.h>
+#include <stdio.h>
+
+/**
+ * Generic RingBuffer
+ * T type of the buffer array
+ * S size of the buffer (must be power of 2)
+ */
+template <typename T, uint32_t S> class RingBuffer {
+public:
+  RingBuffer() { index_read = index_write = 0; }
+  uint32_t available() volatile { return index_write - index_read; }
+  uint32_t free() volatile      { return buffer_size - available(); }
+  bool empty() volatile         { return index_read == index_write; }
+  bool full() volatile          { return available() == buffer_size; }
+  void clear() volatile         { index_read = index_write = 0; }
+
+  bool peek(T *value) volatile {
+    if (value == 0 || available() == 0)
+      return false;
+    *value = buffer[mask(index_read)];
+    return true;
+  }
+
+  int read() volatile {
+    if (empty()) return -1;
+    return buffer[mask(index_read++)];
+  }
+
+  bool write(T value) volatile {
+    if (full()) return false;
+    buffer[mask(index_write++)] = value;
+    return true;
+  }
+
+private:
+  uint32_t mask(uint32_t val) volatile {
+    return buffer_mask & val;
+  }
+
+  static const uint32_t buffer_size = S;
+  static const uint32_t buffer_mask = buffer_size - 1;
+  volatile T buffer[buffer_size];
+  volatile uint32_t index_write;
+  volatile uint32_t index_read;
+};
+
+struct HalSerial {
+  HalSerial() { host_connected = true; }
+
+  void begin(int32_t) {}
+  void end()          {}
+
+  int peek() {
+    uint8_t value;
+    return receive_buffer.peek(&value) ? value : -1;
+  }
+
+  int read() { return receive_buffer.read(); }
+
+  size_t write(char c) {
+    if (!host_connected) return 0;
+    while (!transmit_buffer.free());
+    return transmit_buffer.write(c);
+  }
+
+  bool connected() { return host_connected; }
+
+  uint16_t available() {
+    return (uint16_t)receive_buffer.available();
+  }
+
+  void flush() { receive_buffer.clear(); }
+
+  uint8_t availableForWrite() {
+    return transmit_buffer.free() > 255 ? 255 : (uint8_t)transmit_buffer.free();
+  }
+
+  void flushTX() {
+    if (host_connected)
+      while (transmit_buffer.available()) { /* nada */ }
+  }
+
+  volatile RingBuffer<uint8_t, 128> receive_buffer;
+  volatile RingBuffer<uint8_t, 128> transmit_buffer;
+  volatile bool host_connected;
+};
+
+typedef Serial0Type<HalSerial> MSerialT;
diff --git a/Marlin/src/HAL/LINUX/main.cpp b/Marlin/src/HAL/LINUX/main.cpp
new file mode 100644
index 0000000..c409a83
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/main.cpp
@@ -0,0 +1,134 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * 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 __PLAT_LINUX__
+
+//#define GPIO_LOGGING // Full GPIO and Positional Logging
+
+#include "../../inc/MarlinConfig.h"
+#include "../shared/Delay.h"
+#include "hardware/IOLoggerCSV.h"
+#include "hardware/Heater.h"
+#include "hardware/LinearAxis.h"
+
+#include <stdio.h>
+#include <stdarg.h>
+#include <thread>
+#include <iostream>
+#include <fstream>
+
+extern void setup();
+extern void loop();
+
+// simple stdout / stdin implementation for fake serial port
+void write_serial_thread() {
+  for (;;) {
+    for (std::size_t i = usb_serial.transmit_buffer.available(); i > 0; i--) {
+      fputc(usb_serial.transmit_buffer.read(), stdout);
+    }
+    std::this_thread::yield();
+  }
+}
+
+void read_serial_thread() {
+  char buffer[255] = {};
+  for (;;) {
+    std::size_t len = _MIN(usb_serial.receive_buffer.free(), 254U);
+    if (fgets(buffer, len, stdin))
+      for (std::size_t i = 0; i < strlen(buffer); i++)
+        usb_serial.receive_buffer.write(buffer[i]);
+    std::this_thread::yield();
+  }
+}
+
+void simulation_loop() {
+  Heater hotend(HEATER_0_PIN, TEMP_0_PIN);
+  Heater bed(HEATER_BED_PIN, TEMP_BED_PIN);
+  LinearAxis x_axis(X_ENABLE_PIN, X_DIR_PIN, X_STEP_PIN, X_MIN_PIN, X_MAX_PIN);
+  LinearAxis y_axis(Y_ENABLE_PIN, Y_DIR_PIN, Y_STEP_PIN, Y_MIN_PIN, Y_MAX_PIN);
+  LinearAxis z_axis(Z_ENABLE_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_MIN_PIN, Z_MAX_PIN);
+  LinearAxis extruder0(E0_ENABLE_PIN, E0_DIR_PIN, E0_STEP_PIN, P_NC, P_NC);
+
+  #ifdef GPIO_LOGGING
+    IOLoggerCSV logger("all_gpio_log.csv");
+    Gpio::attachLogger(&logger);
+
+    std::ofstream position_log;
+    position_log.open("axis_position_log.csv");
+
+    int32_t x,y,z;
+  #endif
+
+  for (;;) {
+
+    hotend.update();
+    bed.update();
+
+    x_axis.update();
+    y_axis.update();
+    z_axis.update();
+    extruder0.update();
+
+    #ifdef GPIO_LOGGING
+      if (x_axis.position != x || y_axis.position != y || z_axis.position != z) {
+        uint64_t update = _MAX(x_axis.last_update, y_axis.last_update, z_axis.last_update);
+        position_log << update << ", " << x_axis.position << ", " << y_axis.position << ", " << z_axis.position << std::endl;
+        position_log.flush();
+        x = x_axis.position;
+        y = y_axis.position;
+        z = z_axis.position;
+      }
+      // flush the logger
+      logger.flush();
+    #endif
+
+    std::this_thread::yield();
+  }
+}
+
+int main() {
+  std::thread write_serial (write_serial_thread);
+  std::thread read_serial (read_serial_thread);
+
+  #ifdef MYSERIAL0
+    MYSERIAL0.begin(BAUDRATE);
+    SERIAL_ECHOLNPGM("x86_64 Initialized");
+    SERIAL_FLUSHTX();
+  #endif
+
+  Clock::setFrequency(F_CPU);
+  Clock::setTimeMultiplier(1.0); // some testing at 10x
+
+  HAL_timer_init();
+
+  std::thread simulation (simulation_loop);
+
+  DELAY_US(10000);
+
+  setup();
+  for (;;) {
+    loop();
+    std::this_thread::yield();
+  }
+
+  simulation.join();
+  write_serial.join();
+  read_serial.join();
+}
+
+#endif // __PLAT_LINUX__
diff --git a/Marlin/src/HAL/LINUX/pinsDebug.h b/Marlin/src/HAL/LINUX/pinsDebug.h
new file mode 100644
index 0000000..8f8543e
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/pinsDebug.h
@@ -0,0 +1,59 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * Support routines for X86_64
+ */
+
+/**
+ * Translation of routines & variables used by pinsDebug.h
+ */
+
+#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS
+#define pwm_details(pin)    NOOP          // (do nothing)
+#define pwm_status(pin)     false         // Print a pin's PWM status. Return true if it's currently a PWM pin.
+#define IS_ANALOG(P)        (DIGITAL_PIN_TO_ANALOG_PIN(P) >= 0 ? 1 : 0)
+#define digitalRead_mod(p)  digitalRead(p)
+#define PRINT_PORT(p)
+#define GET_ARRAY_PIN(p)    pin_array[p].pin
+#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define PRINT_PIN(p)        do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
+#define MULTI_NAME_PAD  16 // space needed to be pretty if not first name assigned to a pin
+
+// active ADC function/mode/code values for PINSEL registers
+constexpr int8_t ADC_pin_mode(pin_t pin) {
+  return (-1);
+}
+
+int8_t get_pin_mode(pin_t pin) {
+  if (!VALID_PIN(pin)) return -1;
+  return 0;
+}
+
+bool GET_PINMODE(pin_t pin) {
+  int8_t pin_mode = get_pin_mode(pin);
+  if (pin_mode == -1 || pin_mode == ADC_pin_mode(pin)) // found an invalid pin or active analog pin
+    return false;
+
+  return (Gpio::getMode(pin) != 0); //input/output state
+}
+
+bool GET_ARRAY_IS_DIGITAL(pin_t pin) {
+  return (!IS_ANALOG(pin) || get_pin_mode(pin) != ADC_pin_mode(pin));
+}
diff --git a/Marlin/src/HAL/LINUX/servo_private.h b/Marlin/src/HAL/LINUX/servo_private.h
new file mode 100644
index 0000000..bcc8d20
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/servo_private.h
@@ -0,0 +1,79 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+/**
+ * servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+ * Copyright (c) 2009 Michael Margolis.  All right reserved.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library 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
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+/**
+ * Based on "servo.h - Interrupt driven Servo library for Arduino using 16 bit timers -
+ *           Version 2 Copyright (c) 2009 Michael Margolis.  All right reserved.
+ *
+ * The only modification was to update/delete macros to match the LPC176x.
+ */
+
+#include <stdint.h>
+
+// Macros
+//values in microseconds
+#define MIN_PULSE_WIDTH       544     // the shortest pulse sent to a servo
+#define MAX_PULSE_WIDTH      2400     // the longest pulse sent to a servo
+#define DEFAULT_PULSE_WIDTH  1500     // default pulse width when servo is attached
+#define REFRESH_INTERVAL    20000     // minimum time to refresh servos in microseconds
+
+#define MAX_SERVOS             4
+
+#define INVALID_SERVO         255     // flag indicating an invalid servo index
+
+
+// Types
+
+typedef struct {
+  uint8_t nbr        : 8 ;            // a pin number from 0 to 254 (255 signals invalid pin)
+  uint8_t isActive   : 1 ;            // true if this channel is enabled, pin not pulsed if false
+} ServoPin_t;
+
+typedef struct {
+  ServoPin_t Pin;
+  unsigned int pulse_width;           // pulse width in microseconds
+} ServoInfo_t;
+
+// Global variables
+
+extern uint8_t ServoCount;
+extern ServoInfo_t servo_info[MAX_SERVOS];
diff --git a/Marlin/src/HAL/LINUX/spi_pins.h b/Marlin/src/HAL/LINUX/spi_pins.h
new file mode 100644
index 0000000..33136ac
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/spi_pins.h
@@ -0,0 +1,55 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+#include "../../core/macros.h"
+#include "../../inc/MarlinConfigPre.h"
+
+#if BOTH(HAS_MARLINUI_U8GLIB, SDSUPPORT) && (LCD_PINS_D4 == SD_SCK_PIN || LCD_PINS_ENABLE == SD_MOSI_PIN || DOGLCD_SCK == SD_SCK_PIN || DOGLCD_MOSI == SD_MOSI_PIN)
+  #define LPC_SOFTWARE_SPI  // If the SD card and LCD adapter share the same SPI pins, then software SPI is currently
+                            // needed due to the speed and mode required for communicating with each device being different.
+                            // This requirement can be removed if the SPI access to these devices is updated to use
+                            // spiBeginTransaction.
+#endif
+
+// Onboard SD
+//#define SD_SCK_PIN     P0_07
+//#define SD_MISO_PIN    P0_08
+//#define SD_MOSI_PIN    P0_09
+//#define SD_SS_PIN      P0_06
+
+// External SD
+#ifndef SD_SCK_PIN
+  #define SD_SCK_PIN        50
+#endif
+#ifndef SD_MISO_PIN
+  #define SD_MISO_PIN       51
+#endif
+#ifndef SD_MOSI_PIN
+  #define SD_MOSI_PIN       52
+#endif
+#ifndef SD_SS_PIN
+  #define SD_SS_PIN         53
+#endif
+#ifndef SDSS
+  #define SDSS       SD_SS_PIN
+#endif
diff --git a/Marlin/src/HAL/LINUX/timers.cpp b/Marlin/src/HAL/LINUX/timers.cpp
new file mode 100644
index 0000000..66d80f2
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/timers.cpp
@@ -0,0 +1,71 @@
+/**
+ * Marlin 3D Printer Firmware
+ *
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.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/>.
+ *
+ */
+#ifdef __PLAT_LINUX__
+
+#include "hardware/Timer.h"
+
+#include "../../inc/MarlinConfig.h"
+
+/**
+ * Use POSIX signals to attempt to emulate Interrupts
+ * This has many limitations and is not fit for the purpose
+ */
+
+HAL_STEP_TIMER_ISR();
+HAL_TEMP_TIMER_ISR();
+
+Timer timers[2];
+
+void HAL_timer_init() {
+  timers[0].init(0, STEPPER_TIMER_RATE, TIMER0_IRQHandler);
+  timers[1].init(1, TEMP_TIMER_RATE, TIMER1_IRQHandler);
+}
+
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
+  timers[timer_num].start(frequency);
+}
+
+void HAL_timer_enable_interrupt(const uint8_t timer_num) {
+  timers[timer_num].enable();
+}
+
+void HAL_timer_disable_interrupt(const uint8_t timer_num) {
+  timers[timer_num].disable();
+}
+
+bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
+  return timers[timer_num].enabled();
+}
+
+void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
+  timers[timer_num].setCompare(compare);
+}
+
+hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
+  return timers[timer_num].getCompare();
+}
+
+hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
+  return timers[timer_num].getCount();
+}
+
+#endif // __PLAT_LINUX__
diff --git a/Marlin/src/HAL/LINUX/timers.h b/Marlin/src/HAL/LINUX/timers.h
new file mode 100644
index 0000000..1beaea9
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/timers.h
@@ -0,0 +1,97 @@
+/**
+ * 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 Linux X86_64
+ */
+
+#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         ((SystemCoreClock) / 4)  // frequency of timers peripherals
+
+#ifndef STEP_TIMER_NUM
+  #define STEP_TIMER_NUM        0  // 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        1  // Timer Index for Temperature
+#endif
+
+#define TEMP_TIMER_RATE        1000000
+#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()  extern "C" void TIMER0_IRQHandler()
+#endif
+#ifndef HAL_TEMP_TIMER_ISR
+  #define HAL_TEMP_TIMER_ISR()  extern "C" void TIMER1_IRQHandler()
+#endif
+
+// PWM timer
+#define HAL_PWM_TIMER
+#define HAL_PWM_TIMER_ISR()   extern "C" void TIMER3_IRQHandler()
+#define HAL_PWM_TIMER_IRQn
+
+
+void HAL_timer_init();
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
+
+void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare);
+hal_timer_t HAL_timer_get_compare(const uint8_t timer_num);
+hal_timer_t HAL_timer_get_count(const uint8_t timer_num);
+FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
+  const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
+  if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
+}
+
+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);
+
+#define HAL_timer_isr_prologue(TIMER_NUM)
+#define HAL_timer_isr_epilogue(TIMER_NUM)
diff --git a/Marlin/src/HAL/LINUX/watchdog.cpp b/Marlin/src/HAL/LINUX/watchdog.cpp
new file mode 100644
index 0000000..84202e4
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/watchdog.cpp
@@ -0,0 +1,37 @@
+/**
+ * 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 __PLAT_LINUX__
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(USE_WATCHDOG)
+
+#include "watchdog.h"
+
+#define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
+
+void watchdog_init() {}
+void HAL_watchdog_refresh() {}
+
+#endif
+
+#endif // __PLAT_LINUX__
diff --git a/Marlin/src/HAL/LINUX/watchdog.h b/Marlin/src/HAL/LINUX/watchdog.h
new file mode 100644
index 0000000..49a0d9c
--- /dev/null
+++ b/Marlin/src/HAL/LINUX/watchdog.h
@@ -0,0 +1,25 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+void watchdog_init();
+void HAL_watchdog_refresh();