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diff --git a/Marlin/src/HAL/TEENSY31_32/timers.cpp b/Marlin/src/HAL/TEENSY31_32/timers.cpp
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * HAL Timers for Teensy 3.2 (MK20DX256)
+ */
+
+#ifdef __MK20DX256__
+
+#include "../../inc/MarlinConfig.h"
+
+/** \brief Instruction Synchronization Barrier
+  Instruction Synchronization Barrier flushes the pipeline in the processor,
+  so that all instructions following the ISB are fetched from cache or
+  memory, after the instruction has been completed.
+*/
+FORCE_INLINE static void __ISB() {
+  __asm__ __volatile__("isb 0xF":::"memory");
+}
+
+/** \brief Data Synchronization Barrier
+  This function acts as a special kind of Data Memory Barrier.
+  It completes when all explicit memory accesses before this instruction complete.
+*/
+FORCE_INLINE static void __DSB() {
+  __asm__ __volatile__("dsb 0xF":::"memory");
+}
+
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
+  switch (timer_num) {
+    case 0:
+      FTM0_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN;
+      FTM0_SC = 0x00; // Set this to zero before changing the modulus
+      FTM0_CNT = 0x0000; // Reset the count to zero
+      FTM0_MOD = 0xFFFF; // max modulus = 65535
+      FTM0_C0V = (FTM0_TIMER_RATE) / frequency; // Initial FTM Channel 0 compare value
+      FTM0_SC = (FTM_SC_CLKS(0b1) & FTM_SC_CLKS_MASK) | (FTM_SC_PS(FTM0_TIMER_PRESCALE_BITS) & FTM_SC_PS_MASK); // Bus clock 60MHz divided by prescaler 8
+      FTM0_C0SC = FTM_CSC_CHIE | FTM_CSC_MSA | FTM_CSC_ELSA;
+      break;
+    case 1:
+      FTM1_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN; // Disable write protection, Enable FTM1
+      FTM1_SC = 0x00; // Set this to zero before changing the modulus
+      FTM1_CNT = 0x0000; // Reset the count to zero
+      FTM1_MOD = 0xFFFF; // max modulus = 65535
+      FTM1_C0V = (FTM1_TIMER_RATE) / frequency; // Initial FTM Channel 0 compare value 65535
+      FTM1_SC = (FTM_SC_CLKS(0b1) & FTM_SC_CLKS_MASK) | (FTM_SC_PS(FTM1_TIMER_PRESCALE_BITS) & FTM_SC_PS_MASK); // Bus clock 60MHz divided by prescaler 4
+      FTM1_C0SC = FTM_CSC_CHIE | FTM_CSC_MSA | FTM_CSC_ELSA;
+      break;
+  }
+}
+
+void HAL_timer_enable_interrupt(const uint8_t timer_num) {
+  switch (timer_num) {
+    case 0: NVIC_ENABLE_IRQ(IRQ_FTM0); break;
+    case 1: NVIC_ENABLE_IRQ(IRQ_FTM1); break;
+  }
+}
+
+void HAL_timer_disable_interrupt(const uint8_t timer_num) {
+  switch (timer_num) {
+    case 0: NVIC_DISABLE_IRQ(IRQ_FTM0); break;
+    case 1: NVIC_DISABLE_IRQ(IRQ_FTM1); break;
+  }
+
+  // We NEED memory barriers to ensure Interrupts are actually disabled!
+  // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
+  __DSB();
+  __ISB();
+}
+
+bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
+  switch (timer_num) {
+    case 0: return NVIC_IS_ENABLED(IRQ_FTM0);
+    case 1: return NVIC_IS_ENABLED(IRQ_FTM1);
+  }
+  return false;
+}
+
+void HAL_timer_isr_prologue(const uint8_t timer_num) {
+  switch (timer_num) {
+    case 0:
+      FTM0_CNT = 0x0000;
+      FTM0_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag
+      FTM0_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag
+      break;
+    case 1:
+      FTM1_CNT = 0x0000;
+      FTM1_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag
+      FTM1_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag
+      break;
+  }
+}
+
+#endif // __MK20DX256__