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diff --git a/Marlin/src/HAL/STM32/timers.cpp b/Marlin/src/HAL/STM32/timers.cpp
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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
+ * 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/>.
+ *
+ */
+#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC)
+
+#include "../../inc/MarlinConfig.h"
+
+// ------------------------
+// Local defines
+// ------------------------
+
+// Default timer priorities. Override by specifying alternate priorities in the board pins file.
+// The TONE timer is not present here, as it currently cannot be set programmatically. It is set
+// by defining TIM_IRQ_PRIO in the variant.h or platformio.ini file, which adjusts the default
+// priority for STM32 HardwareTimer objects.
+#define SWSERIAL_TIMER_IRQ_PRIO_DEFAULT  1 // Requires tight bit timing to communicate reliably with TMC drivers
+#define SERVO_TIMER_IRQ_PRIO_DEFAULT     1 // Requires tight PWM timing to control a BLTouch reliably
+#define STEP_TIMER_IRQ_PRIO_DEFAULT      2
+#define TEMP_TIMER_IRQ_PRIO_DEFAULT     14 // Low priority avoids interference with other hardware and timers
+
+#ifndef STEP_TIMER_IRQ_PRIO
+  #define STEP_TIMER_IRQ_PRIO STEP_TIMER_IRQ_PRIO_DEFAULT
+#endif
+#ifndef TEMP_TIMER_IRQ_PRIO
+  #define TEMP_TIMER_IRQ_PRIO TEMP_TIMER_IRQ_PRIO_DEFAULT
+#endif
+#if HAS_TMC_SW_SERIAL
+  #include <SoftwareSerial.h>
+  #ifndef SWSERIAL_TIMER_IRQ_PRIO
+    #define SWSERIAL_TIMER_IRQ_PRIO SWSERIAL_TIMER_IRQ_PRIO_DEFAULT
+  #endif
+#endif
+#if HAS_SERVOS
+  #include "Servo.h"
+  #ifndef SERVO_TIMER_IRQ_PRIO
+    #define SERVO_TIMER_IRQ_PRIO SERVO_TIMER_IRQ_PRIO_DEFAULT
+  #endif
+#endif
+#if ENABLED(SPEAKER)
+  // Ensure the default timer priority is somewhere between the STEP and TEMP priorities.
+  // The STM32 framework defaults to interrupt 14 for all timers. This should be increased so that
+  // timing-sensitive operations such as speaker output are not impacted by the long-running
+  // temperature ISR. This must be defined in the platformio.ini file or the board's variant.h,
+  // so that it will be consumed by framework code.
+  #if !(TIM_IRQ_PRIO > STEP_TIMER_IRQ_PRIO && TIM_IRQ_PRIO < TEMP_TIMER_IRQ_PRIO)
+    #error "Default timer interrupt priority is unspecified or set to a value which may degrade performance."
+  #endif
+#endif
+
+#ifdef STM32F0xx
+  #define MCU_STEP_TIMER 16
+  #define MCU_TEMP_TIMER 17
+#elif defined(STM32F1xx)
+  #define MCU_STEP_TIMER  4
+  #define MCU_TEMP_TIMER  2
+#elif defined(STM32F401xC) || defined(STM32F401xE)
+  #define MCU_STEP_TIMER  9
+  #define MCU_TEMP_TIMER 10
+#elif defined(STM32F4xx) || defined(STM32F7xx)
+  #define MCU_STEP_TIMER  6           // STM32F401 has no TIM6, TIM7, or TIM8
+  #define MCU_TEMP_TIMER 14           // TIM7 is consumed by Software Serial if used.
+#endif
+
+#ifndef HAL_TIMER_RATE
+  #define HAL_TIMER_RATE GetStepperTimerClkFreq()
+#endif
+
+#ifndef STEP_TIMER
+  #define STEP_TIMER MCU_STEP_TIMER
+#endif
+#ifndef TEMP_TIMER
+  #define TEMP_TIMER MCU_TEMP_TIMER
+#endif
+
+#define __TIMER_DEV(X) TIM##X
+#define _TIMER_DEV(X) __TIMER_DEV(X)
+#define STEP_TIMER_DEV _TIMER_DEV(STEP_TIMER)
+#define TEMP_TIMER_DEV _TIMER_DEV(TEMP_TIMER)
+
+// ------------------------
+// Private Variables
+// ------------------------
+
+HardwareTimer *timer_instance[NUM_HARDWARE_TIMERS] = { nullptr };
+
+// ------------------------
+// Public functions
+// ------------------------
+
+uint32_t GetStepperTimerClkFreq() {
+  // Timer input clocks vary between devices, and in some cases between timers on the same device.
+  // Retrieve at runtime to ensure device compatibility. Cache result to avoid repeated overhead.
+  static uint32_t clkfreq = timer_instance[STEP_TIMER_NUM]->getTimerClkFreq();
+  return clkfreq;
+}
+
+// frequency is in Hertz
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
+  if (!HAL_timer_initialized(timer_num)) {
+    switch (timer_num) {
+      case STEP_TIMER_NUM: // STEPPER TIMER - use a 32bit timer if possible
+        timer_instance[timer_num] = new HardwareTimer(STEP_TIMER_DEV);
+        /* Set the prescaler to the final desired value.
+         * This will change the effective ISR callback frequency but when
+         * HAL_timer_start(timer_num=0) is called in the core for the first time
+         * the real frequency isn't important as long as, after boot, the ISR
+         * gets called with the correct prescaler and count register. So here
+         * we set the prescaler to the correct, final value and ignore the frequency
+         * asked. We will call back the ISR in 1 second to start at full speed.
+         *
+         * The proper fix, however, would be a correct initialization OR a
+         * HAL_timer_change(const uint8_t timer_num, const uint32_t frequency)
+         * which changes the prescaler when an IRQ frequency change is needed
+         * (for example when steppers are turned on)
+         */
+
+        timer_instance[timer_num]->setPrescaleFactor(STEPPER_TIMER_PRESCALE); //the -1 is done internally
+        timer_instance[timer_num]->setOverflow(_MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), (HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE) /* /frequency */), TICK_FORMAT);
+        break;
+      case TEMP_TIMER_NUM: // TEMP TIMER - any available 16bit timer
+        timer_instance[timer_num] = new HardwareTimer(TEMP_TIMER_DEV);
+        // The prescale factor is computed automatically for HERTZ_FORMAT
+        timer_instance[timer_num]->setOverflow(frequency, HERTZ_FORMAT);
+        break;
+    }
+
+    // Disable preload. Leaving it default-enabled can cause the timer to stop if it happens
+    // to exit the ISR after the start time for the next interrupt has already passed.
+    timer_instance[timer_num]->setPreloadEnable(false);
+
+    HAL_timer_enable_interrupt(timer_num);
+
+    // Start the timer.
+    timer_instance[timer_num]->resume(); // First call to resume() MUST follow the attachInterrupt()
+
+    // This is fixed in Arduino_Core_STM32 1.8.
+    // These calls can be removed and replaced with
+    // timer_instance[timer_num]->setInterruptPriority
+    switch (timer_num) {
+      case STEP_TIMER_NUM:
+        timer_instance[timer_num]->setInterruptPriority(STEP_TIMER_IRQ_PRIO, 0);
+        break;
+      case TEMP_TIMER_NUM:
+        timer_instance[timer_num]->setInterruptPriority(TEMP_TIMER_IRQ_PRIO, 0);
+        break;
+    }
+  }
+}
+
+void HAL_timer_enable_interrupt(const uint8_t timer_num) {
+  if (HAL_timer_initialized(timer_num) && !timer_instance[timer_num]->hasInterrupt()) {
+    switch (timer_num) {
+      case STEP_TIMER_NUM:
+        timer_instance[timer_num]->attachInterrupt(Step_Handler);
+        break;
+      case TEMP_TIMER_NUM:
+        timer_instance[timer_num]->attachInterrupt(Temp_Handler);
+        break;
+    }
+  }
+}
+
+void HAL_timer_disable_interrupt(const uint8_t timer_num) {
+  if (HAL_timer_initialized(timer_num)) timer_instance[timer_num]->detachInterrupt();
+}
+
+bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
+  return HAL_timer_initialized(timer_num) && timer_instance[timer_num]->hasInterrupt();
+}
+
+void SetTimerInterruptPriorities() {
+  TERN_(HAS_TMC_SW_SERIAL, SoftwareSerial::setInterruptPriority(SWSERIAL_TIMER_IRQ_PRIO, 0));
+  TERN_(HAS_SERVOS, libServo::setInterruptPriority(SERVO_TIMER_IRQ_PRIO, 0));
+}
+
+// ------------------------
+// Detect timer conflicts
+// ------------------------
+
+// This list serves two purposes. Firstly, it facilitates build-time mapping between
+// variant-defined timer names (such as TIM1) and timer numbers. It also replicates
+// the order of timers used in the framework's SoftwareSerial.cpp. The first timer in
+// this list will be automatically used by SoftwareSerial if it is not already defined
+// in the board's variant or compiler options.
+static constexpr struct {uintptr_t base_address; int timer_number;} stm32_timer_map[] = {
+  #ifdef TIM18_BASE
+    { uintptr_t(TIM18), 18 },
+  #endif
+  #ifdef TIM7_BASE
+    { uintptr_t(TIM7),   7 },
+  #endif
+  #ifdef TIM6_BASE
+    { uintptr_t(TIM6),   6 },
+  #endif
+  #ifdef TIM22_BASE
+    { uintptr_t(TIM22), 22 },
+  #endif
+  #ifdef TIM21_BASE
+    { uintptr_t(TIM21), 21 },
+  #endif
+  #ifdef TIM17_BASE
+    { uintptr_t(TIM17), 17 },
+  #endif
+  #ifdef TIM16_BASE
+    { uintptr_t(TIM16), 16 },
+  #endif
+  #ifdef TIM15_BASE
+    { uintptr_t(TIM15), 15 },
+  #endif
+  #ifdef TIM14_BASE
+    { uintptr_t(TIM14), 14 },
+  #endif
+  #ifdef TIM13_BASE
+    { uintptr_t(TIM13), 13 },
+  #endif
+  #ifdef TIM11_BASE
+    { uintptr_t(TIM11), 11 },
+  #endif
+  #ifdef TIM10_BASE
+    { uintptr_t(TIM10), 10 },
+  #endif
+  #ifdef TIM12_BASE
+    { uintptr_t(TIM12), 12 },
+  #endif
+  #ifdef TIM19_BASE
+    { uintptr_t(TIM19), 19 },
+  #endif
+  #ifdef TIM9_BASE
+    { uintptr_t(TIM9),   9 },
+  #endif
+  #ifdef TIM5_BASE
+    { uintptr_t(TIM5),   5 },
+  #endif
+  #ifdef TIM4_BASE
+    { uintptr_t(TIM4),   4 },
+  #endif
+  #ifdef TIM3_BASE
+    { uintptr_t(TIM3),   3 },
+  #endif
+  #ifdef TIM2_BASE
+    { uintptr_t(TIM2),   2 },
+  #endif
+  #ifdef TIM20_BASE
+    { uintptr_t(TIM20), 20 },
+  #endif
+  #ifdef TIM8_BASE
+    { uintptr_t(TIM8),   8 },
+  #endif
+  #ifdef TIM1_BASE
+    { uintptr_t(TIM1),   1 }
+  #endif
+};
+
+// Convert from a timer base address to its integer timer number.
+static constexpr int get_timer_num_from_base_address(uintptr_t base_address) {
+  for (const auto &timer : stm32_timer_map)
+    if (timer.base_address == base_address) return timer.timer_number;
+  return 0;
+}
+
+// The platform's SoftwareSerial.cpp will use the first timer from stm32_timer_map.
+#if HAS_TMC_SW_SERIAL && !defined(TIMER_SERIAL)
+  #define  TIMER_SERIAL (stm32_timer_map[0].base_address)
+#endif
+
+// constexpr doesn't like using the base address pointers that timers evaluate to.
+// We can get away with casting them to uintptr_t, if we do so inside an array.
+// GCC will not currently do it directly to a uintptr_t.
+IF_ENABLED(HAS_TMC_SW_SERIAL, static constexpr uintptr_t timer_serial[] = {uintptr_t(TIMER_SERIAL)});
+IF_ENABLED(SPEAKER,           static constexpr uintptr_t timer_tone[]   = {uintptr_t(TIMER_TONE)});
+IF_ENABLED(HAS_SERVOS,        static constexpr uintptr_t timer_servo[]  = {uintptr_t(TIMER_SERVO)});
+
+enum TimerPurpose { TP_SERIAL, TP_TONE, TP_SERVO, TP_STEP, TP_TEMP };
+
+// List of timers, to enable checking for conflicts.
+// Includes the purpose of each timer to ease debugging when evaluating at build-time.
+// This cannot yet account for timers used for PWM output, such as for fans.
+static constexpr struct { TimerPurpose p; int t; } timers_in_use[] = {
+  #if HAS_TMC_SW_SERIAL
+    {TP_SERIAL, get_timer_num_from_base_address(timer_serial[0])},  // Set in variant.h, or as a define in platformio.h if not present in variant.h
+  #endif
+  #if ENABLED(SPEAKER)
+    {TP_TONE, get_timer_num_from_base_address(timer_tone[0])},    // Set in variant.h, or as a define in platformio.h if not present in variant.h
+  #endif
+  #if HAS_SERVOS
+    {TP_SERVO, get_timer_num_from_base_address(timer_servo[0])},   // Set in variant.h, or as a define in platformio.h if not present in variant.h
+  #endif
+  {TP_STEP, STEP_TIMER},
+  {TP_TEMP, TEMP_TIMER},
+};
+
+static constexpr bool verify_no_timer_conflicts() {
+  LOOP_L_N(i, COUNT(timers_in_use))
+    LOOP_S_L_N(j, i + 1, COUNT(timers_in_use))
+      if (timers_in_use[i].t == timers_in_use[j].t) return false;
+  return true;
+}
+
+// If this assertion fails at compile time, review the timers_in_use array.
+// If default_envs is defined properly in platformio.ini, VS Code can evaluate the array
+// when hovering over it, making it easy to identify the conflicting timers.
+static_assert(verify_no_timer_conflicts(), "One or more timer conflict detected. Examine \"timers_in_use\" to help identify conflict.");
+
+#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC