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diff --git a/Marlin/src/HAL/STM32F1/Servo.cpp b/Marlin/src/HAL/STM32F1/Servo.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
+ * Copyright (c) 2017 Victor Perez
+ *
+ * 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 __STM32F1__
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_SERVOS
+
+uint8_t ServoCount = 0;
+
+#include "Servo.h"
+
+//#include "Servo.h"
+
+#include <boards.h>
+#include <io.h>
+#include <pwm.h>
+#include <wirish_math.h>
+
+/**
+ * 20 millisecond period config. For a 1-based prescaler,
+ *
+ *    (prescaler * overflow / CYC_MSEC) msec = 1 timer cycle = 20 msec
+ * => prescaler * overflow = 20 * CYC_MSEC
+ *
+ * This uses the smallest prescaler that allows an overflow < 2^16.
+ */
+#define MAX_OVERFLOW    UINT16_MAX // _BV(16) - 1
+#define CYC_MSEC        (1000 * CYCLES_PER_MICROSECOND)
+#define TAU_MSEC        20
+#define TAU_USEC        (TAU_MSEC * 1000)
+#define TAU_CYC         (TAU_MSEC * CYC_MSEC)
+#define SERVO_PRESCALER (TAU_CYC / MAX_OVERFLOW + 1)
+#define SERVO_OVERFLOW  ((uint16_t)round((double)TAU_CYC / SERVO_PRESCALER))
+
+// Unit conversions
+#define US_TO_COMPARE(us) uint16_t(map((us), 0, TAU_USEC, 0, SERVO_OVERFLOW))
+#define COMPARE_TO_US(c)  uint32_t(map((c),  0, SERVO_OVERFLOW, 0, TAU_USEC))
+#define ANGLE_TO_US(a)    uint16_t(map((a),  minAngle, maxAngle, SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW))
+#define US_TO_ANGLE(us)    int16_t(map((us), SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW, minAngle, maxAngle))
+
+void libServo::servoWrite(uint8_t inPin, uint16_t duty_cycle) {
+  #ifdef SERVO0_TIMER_NUM
+    if (servoIndex == 0) {
+      pwmSetDuty(duty_cycle);
+      return;
+    }
+  #endif
+
+  timer_dev *tdev = PIN_MAP[inPin].timer_device;
+  uint8_t tchan = PIN_MAP[inPin].timer_channel;
+  if (tdev) timer_set_compare(tdev, tchan, duty_cycle);
+}
+
+libServo::libServo() {
+  servoIndex = ServoCount < MAX_SERVOS ? ServoCount++ : INVALID_SERVO;
+  timer_set_interrupt_priority(SERVO0_TIMER_NUM, SERVO0_TIMER_IRQ_PRIO);
+}
+
+bool libServo::attach(const int32_t inPin, const int32_t inMinAngle, const int32_t inMaxAngle) {
+  if (servoIndex >= MAX_SERVOS) return false;
+  if (inPin >= BOARD_NR_GPIO_PINS) return false;
+
+  minAngle = inMinAngle;
+  maxAngle = inMaxAngle;
+  angle = -1;
+
+  #ifdef SERVO0_TIMER_NUM
+    if (servoIndex == 0 && setupSoftPWM(inPin)) {
+      pin = inPin; // set attached()
+      return true;
+    }
+  #endif
+
+  if (!PWM_PIN(inPin)) return false;
+
+  timer_dev *tdev = PIN_MAP[inPin].timer_device;
+  //uint8_t tchan = PIN_MAP[inPin].timer_channel;
+
+  SET_PWM(inPin);
+  servoWrite(inPin, 0);
+
+  timer_pause(tdev);
+  timer_set_prescaler(tdev, SERVO_PRESCALER - 1); // prescaler is 1-based
+  timer_set_reload(tdev, SERVO_OVERFLOW);
+  timer_generate_update(tdev);
+  timer_resume(tdev);
+
+  pin = inPin; // set attached()
+  return true;
+}
+
+bool libServo::detach() {
+  if (!attached()) return false;
+  angle = -1;
+  servoWrite(pin, 0);
+  return true;
+}
+
+int32_t libServo::read() const {
+  if (attached()) {
+    #ifdef SERVO0_TIMER_NUM
+      if (servoIndex == 0) return angle;
+    #endif
+    timer_dev *tdev = PIN_MAP[pin].timer_device;
+    uint8_t tchan = PIN_MAP[pin].timer_channel;
+    return US_TO_ANGLE(COMPARE_TO_US(timer_get_compare(tdev, tchan)));
+  }
+  return 0;
+}
+
+void libServo::move(const int32_t value) {
+  constexpr uint16_t servo_delay[] = SERVO_DELAY;
+  static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
+
+  if (attached()) {
+    angle = constrain(value, minAngle, maxAngle);
+    servoWrite(pin, US_TO_COMPARE(ANGLE_TO_US(angle)));
+    safe_delay(servo_delay[servoIndex]);
+    TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach());
+  }
+}
+
+#ifdef SERVO0_TIMER_NUM
+  extern "C" void Servo_IRQHandler() {
+    static timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM);
+    uint16_t SR = timer_get_status(tdev);
+    if (SR & TIMER_SR_CC1IF) { // channel 1 off
+      #ifdef SERVO0_PWM_OD
+        OUT_WRITE_OD(SERVO0_PIN, 1); // off
+      #else
+        OUT_WRITE(SERVO0_PIN, 0);
+      #endif
+      timer_reset_status_bit(tdev, TIMER_SR_CC1IF_BIT);
+    }
+    if (SR & TIMER_SR_CC2IF) { // channel 2 resume
+      #ifdef SERVO0_PWM_OD
+        OUT_WRITE_OD(SERVO0_PIN, 0); // on
+      #else
+        OUT_WRITE(SERVO0_PIN, 1);
+      #endif
+      timer_reset_status_bit(tdev, TIMER_SR_CC2IF_BIT);
+    }
+  }
+
+  bool libServo::setupSoftPWM(const int32_t inPin) {
+    timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM);
+    if (!tdev) return false;
+    #ifdef SERVO0_PWM_OD
+      OUT_WRITE_OD(inPin, 1);
+    #else
+      OUT_WRITE(inPin, 0);
+    #endif
+
+    timer_pause(tdev);
+    timer_set_mode(tdev, 1, TIMER_OUTPUT_COMPARE); // counter with isr
+    timer_oc_set_mode(tdev, 1, TIMER_OC_MODE_FROZEN, 0); // no pin output change
+    timer_oc_set_mode(tdev, 2, TIMER_OC_MODE_FROZEN, 0); // no pin output change
+    timer_set_prescaler(tdev, SERVO_PRESCALER - 1); // prescaler is 1-based
+    timer_set_reload(tdev, SERVO_OVERFLOW);
+    timer_set_compare(tdev, 1, SERVO_OVERFLOW);
+    timer_set_compare(tdev, 2, SERVO_OVERFLOW);
+    timer_attach_interrupt(tdev, 1, Servo_IRQHandler);
+    timer_attach_interrupt(tdev, 2, Servo_IRQHandler);
+    timer_generate_update(tdev);
+    timer_resume(tdev);
+
+    return true;
+  }
+
+  void libServo::pwmSetDuty(const uint16_t duty_cycle) {
+    timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM);
+    timer_set_compare(tdev, 1, duty_cycle);
+    timer_generate_update(tdev);
+    if (duty_cycle) {
+      timer_enable_irq(tdev, 1);
+      timer_enable_irq(tdev, 2);
+    }
+    else {
+      timer_disable_irq(tdev, 1);
+      timer_disable_irq(tdev, 2);
+      #ifdef SERVO0_PWM_OD
+        OUT_WRITE_OD(pin, 1); // off
+      #else
+        OUT_WRITE(pin, 0);
+      #endif
+    }
+  }
+
+  void libServo::pauseSoftPWM() { // detach
+    timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM);
+    timer_pause(tdev);
+    pwmSetDuty(0);
+  }
+
+#else
+
+  bool libServo::setupSoftPWM(const int32_t inPin) { return false; }
+  void libServo::pwmSetDuty(const uint16_t duty_cycle) {}
+  void libServo::pauseSoftPWM() {}
+
+#endif
+
+#endif // HAS_SERVOS
+
+#endif // __STM32F1__