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diff --git a/Marlin/src/HAL/TEENSY40_41/timers.h b/Marlin/src/HAL/TEENSY40_41/timers.h
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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/>.
+ *
+ */
+#pragma once
+
+/**
+ * HAL Timers for Teensy 4.0 (IMXRT1062DVL6A) / 4.1 (IMXRT1062DVJ6A)
+ */
+
+#include <stdint.h>
+
+// ------------------------
+// Defines
+// ------------------------
+
+#define FORCE_INLINE __attribute__((always_inline)) inline
+
+typedef uint32_t hal_timer_t;
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFE
+
+#define GPT_TIMER_RATE F_BUS_ACTUAL   // 150MHz
+
+#define GPT1_TIMER_PRESCALE 2
+#define GPT2_TIMER_PRESCALE 10
+
+#define GPT1_TIMER_RATE (GPT_TIMER_RATE / GPT1_TIMER_PRESCALE) // 75MHz
+#define GPT2_TIMER_RATE (GPT_TIMER_RATE / GPT2_TIMER_PRESCALE) // 15MHz
+
+#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
+
+#define STEPPER_TIMER_RATE     GPT1_TIMER_RATE
+#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)
+#define STEPPER_TIMER_PRESCALE ((GPT_TIMER_RATE / 1000000) / 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 stepTC_Handler() // GPT1_Handler()
+#endif
+#ifndef HAL_TEMP_TIMER_ISR
+  #define HAL_TEMP_TIMER_ISR() extern "C" void tempTC_Handler() // GPT2_Handler()
+#endif
+
+extern "C" {
+  void stepTC_Handler();
+  void tempTC_Handler();
+}
+
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
+
+FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
+  switch (timer_num) {
+    case 0:
+      GPT1_OCR1 = compare - 1;
+      break;
+    case 1:
+      GPT2_OCR1 = compare - 1;
+      break;
+  }
+}
+
+FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
+  switch (timer_num) {
+    case 0: return GPT1_OCR1;
+    case 1: return GPT2_OCR1;
+  }
+  return 0;
+}
+
+FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
+  switch (timer_num) {
+    case 0: return GPT1_CNT;
+    case 1: return GPT2_CNT;
+  }
+  return 0;
+}
+
+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);
+
+void HAL_timer_isr_prologue(const uint8_t timer_num);
+//void HAL_timer_isr_epilogue(const uint8_t timer_num) {}
+#define HAL_timer_isr_epilogue(TIMER_NUM)