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diff --git a/Marlin/src/libs/circularqueue.h b/Marlin/src/libs/circularqueue.h
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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/>.
+ *
+ */
+#pragma once
+
+#include <stdint.h>
+
+/**
+ * @brief   Circular Queue class
+ * @details Implementation of the classic ring buffer data structure
+ */
+template<typename T, uint8_t N>
+class CircularQueue {
+  private:
+
+    /**
+     * @brief   Buffer structure
+     * @details This structure consolidates all the overhead required to handle
+     *          a circular queue such as the pointers and the buffer vector.
+     */
+    struct buffer_t {
+      uint8_t head;
+      uint8_t tail;
+      uint8_t count;
+      uint8_t size;
+      T queue[N];
+    } buffer;
+
+  public:
+    /**
+     * @brief   Class constructor
+     * @details This class requires two template parameters, T defines the type
+     *          of item this queue will handle and N defines the maximum number of
+     *          items that can be stored on the queue.
+     */
+    CircularQueue<T, N>() {
+      buffer.size = N;
+      buffer.count = buffer.head = buffer.tail = 0;
+    }
+
+    /**
+     * @brief   Removes and returns a item from the queue
+     * @details Removes the oldest item on the queue, pointed to by the
+     *          buffer_t head field. The item is returned to the caller.
+     * @return  type T item
+     */
+    T dequeue() {
+      if (isEmpty()) return T();
+
+      uint8_t index = buffer.head;
+
+      --buffer.count;
+      if (++buffer.head == buffer.size)
+        buffer.head = 0;
+
+      return buffer.queue[index];
+    }
+
+    /**
+     * @brief   Adds an item to the queue
+     * @details Adds an item to the queue on the location pointed by the buffer_t
+     *          tail variable. Returns false if no queue space is available.
+     * @param   item Item to be added to the queue
+     * @return  true if the operation was successful
+     */
+    bool enqueue(T const &item) {
+      if (isFull()) return false;
+
+      buffer.queue[buffer.tail] = item;
+
+      ++buffer.count;
+      if (++buffer.tail == buffer.size)
+        buffer.tail = 0;
+
+      return true;
+    }
+
+    /**
+     * @brief   Checks if the queue has no items
+     * @details Returns true if there are no items on the queue, false otherwise.
+     * @return  true if queue is empty
+     */
+    bool isEmpty() { return buffer.count == 0; }
+
+    /**
+     * @brief   Checks if the queue is full
+     * @details Returns true if the queue is full, false otherwise.
+     * @return  true if queue is full
+     */
+    bool isFull() { return buffer.count == buffer.size; }
+
+    /**
+     * @brief   Gets the queue size
+     * @details Returns the maximum number of items a queue can have.
+     * @return  the queue size
+     */
+    uint8_t size() { return buffer.size; }
+
+    /**
+     * @brief   Gets the next item from the queue without removing it
+     * @details Returns the next item in the queue without removing it
+     *          or updating the pointers.
+     * @return  first item in the queue
+     */
+    T peek() { return buffer.queue[buffer.head]; }
+
+    /**
+     * @brief Gets the number of items on the queue
+     * @details Returns the current number of items stored on the queue.
+     * @return number of items in the queue
+     */
+    uint8_t count() { return buffer.count; }
+};