diff --git a/Marlin/src/HAL/HAL_AVR/HAL_AVR.h b/Marlin/src/HAL/HAL_AVR/HAL_AVR.h
index 8ea43c8154..c3b7403e30 100644
--- a/Marlin/src/HAL/HAL_AVR/HAL_AVR.h
+++ b/Marlin/src/HAL/HAL_AVR/HAL_AVR.h
@@ -139,6 +139,7 @@ extern "C" {
 
 #define ENABLE_STEPPER_DRIVER_INTERRUPT()  SBI(TIMSK1, OCIE1A)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
+#define STEPPER_ISR_ENABLED() TEST(TIMSK1, OCIE1A)
 
 #define ENABLE_TEMPERATURE_INTERRUPT()  SBI(TIMSK0, OCIE0B)
 #define DISABLE_TEMPERATURE_INTERRUPT() CBI(TIMSK0, OCIE0B)
diff --git a/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp b/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp
index dbeb285417..a604f6806f 100644
--- a/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp
+++ b/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp
@@ -112,23 +112,28 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
 }
 
 void HAL_timer_enable_interrupt(const uint8_t timer_num) {
-  const tTimerConfig *pConfig = &TimerConfig[timer_num];
+  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
   pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_IER = TC_IER_CPCS;
 }
 
 void HAL_timer_disable_interrupt(const uint8_t timer_num) {
-  const tTimerConfig *pConfig = &TimerConfig[timer_num];
+  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
   pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_IDR = TC_IDR_CPCS;
 }
 
+void HAL_timer_interrupt_enabled(const uint8_t timer_num) {
+  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
+  return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_IER == TC_IER_CPCS;
+}
+
 #if 0
   void HAL_timer_set_count(const uint8_t timer_num, const uint32_t count) {
-    const tTimerConfig *pConfig = &TimerConfig[timer_num];
+    const tTimerConfig * const pConfig = &TimerConfig[timer_num];
     TC_SetRC(pConfig->pTimerRegs, pConfig->channel, count);
   }
 
   void HAL_timer_isr_prologue(const uint8_t timer_num) {
-    const tTimerConfig *pConfig = &TimerConfig[timer_num];
+    const tTimerConfig * const pConfig = &TimerConfig[timer_num];
     TC_GetStatus(pConfig->pTimerRegs, pConfig->channel);
   }
 #endif
diff --git a/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h b/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h
index b93e80b7d6..d4d4a6e51f 100644
--- a/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h
+++ b/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h
@@ -55,6 +55,7 @@ typedef uint32_t hal_timer_t;
 
 #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)
@@ -91,32 +92,33 @@ extern const tTimerConfig TimerConfig[];
 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
 
 FORCE_INLINE static void HAL_timer_set_count(const uint8_t timer_num, const hal_timer_t count) {
-  const tTimerConfig *pConfig = &TimerConfig[timer_num];
+  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
   pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC = count;
 }
 
 FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
-  const tTimerConfig *pConfig = &TimerConfig[timer_num];
+  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
   return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC;
 }
 
 FORCE_INLINE static void HAL_timer_set_current_count(const uint8_t timer_num, const hal_timer_t count) {
-  const tTimerConfig *pConfig = &TimerConfig[timer_num];
+  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
   pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV = count;
 }
 
 FORCE_INLINE static hal_timer_t HAL_timer_get_current_count(const uint8_t timer_num) {
-  const tTimerConfig *pConfig = &TimerConfig[timer_num];
+  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
   return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV;
 }
 
 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);
 
 FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
-  const tTimerConfig *pConfig = &TimerConfig[timer_num];
+  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
   // Reading the status register clears the interrupt flag
   pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
 }
diff --git a/Marlin/src/HAL/HAL_LPC1768/HAL_timers.cpp b/Marlin/src/HAL/HAL_LPC1768/HAL_timers.cpp
index c9e25693e2..3f7507aa5b 100644
--- a/Marlin/src/HAL/HAL_LPC1768/HAL_timers.cpp
+++ b/Marlin/src/HAL/HAL_LPC1768/HAL_timers.cpp
@@ -75,6 +75,14 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num) {
   }
 }
 
+bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
+  switch (timer_num) {
+    case 0: return NVIC_GetActive(TIMER0_IRQn);
+    case 1: return NVIC_GetActive(TIMER1_IRQn);
+  }
+  return false;
+}
+
 void HAL_timer_isr_prologue(const uint8_t timer_num) {
   switch (timer_num) {
     case 0: SBI(LPC_TIM0->IR, 0); break; // Clear the Interrupt
diff --git a/Marlin/src/HAL/HAL_LPC1768/HAL_timers.h b/Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
index 34b3b24b9a..8b4c222afc 100644
--- a/Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
+++ b/Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
@@ -58,6 +58,8 @@ typedef uint32_t hal_timer_t;
 
 #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)
 
@@ -125,6 +127,7 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_current_count(const uint8_t timer_
 
 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);
 
 #endif // _HAL_TIMERS_DUE_H
diff --git a/Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.cpp b/Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.cpp
index 45ed20df1d..0d64e86f53 100644
--- a/Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.cpp
+++ b/Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.cpp
@@ -93,7 +93,7 @@ const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
  * TODO: Calculate Timer prescale value, so we get the 32bit to adjust
  */
 
-void HAL_timer_start(uint8_t timer_num, uint32_t frequency) {
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
   nvic_irq_num irq_num;
   switch (timer_num) {
     case 1: irq_num = NVIC_TIMER1_CC; break;
@@ -135,7 +135,7 @@ void HAL_timer_start(uint8_t timer_num, uint32_t frequency) {
   }
 }
 
-void HAL_timer_enable_interrupt(uint8_t timer_num) {
+void HAL_timer_enable_interrupt(const uint8_t timer_num) {
   switch (timer_num) {
     case STEP_TIMER_NUM:
       timer_enable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN);
@@ -148,7 +148,7 @@ void HAL_timer_enable_interrupt(uint8_t timer_num) {
   }
 }
 
-void HAL_timer_disable_interrupt(uint8_t timer_num) {
+void HAL_timer_disable_interrupt(const uint8_t timer_num) {
   switch (timer_num) {
     case STEP_TIMER_NUM:
       timer_disable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN);
@@ -161,4 +161,12 @@ void HAL_timer_disable_interrupt(uint8_t timer_num) {
   }
 }
 
+bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
+  switch (timer_num) {
+    case STEP_TIMER_NUM: return bool(TIM_DIER(STEP_TIMER_DEV) & STEP_TIMER_CHAN);
+    case TEMP_TIMER_NUM: return bool(TIM_DIER(TEMP_TIMER_DEV) & TEMP_TIMER_CHAN);
+  }
+  return false;
+}
+
 #endif // __STM32F1__
diff --git a/Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h b/Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h
index bdc083e2a4..79c9408ca7 100644
--- a/Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h
+++ b/Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h
@@ -62,8 +62,6 @@ typedef uint16_t hal_timer_t;
 #define STEP_TIMER_DEV TIMER_DEV(STEP_TIMER_NUM)
 #define TEMP_TIMER_DEV TIMER_DEV(TEMP_TIMER_NUM)
 
-
-
 //STM32_HAVE_TIMER(n);
 
 #define HAL_TIMER_RATE         (F_CPU)  // frequency of timers peripherals
@@ -79,6 +77,7 @@ typedef uint16_t hal_timer_t;
 
 #define ENABLE_STEPPER_DRIVER_INTERRUPT() timer_enable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT() timer_disable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN)
+#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
 
 #define ENABLE_TEMPERATURE_INTERRUPT() timer_enable_irq(TEMP_TIMER_DEV, TEMP_TIMER_CHAN)
 #define DISABLE_TEMPERATURE_INTERRUPT() timer_disable_irq(TEMP_TIMER_DEV, TEMP_TIMER_CHAN)
@@ -113,9 +112,10 @@ static HardwareTimer TempTimer(TEMP_TIMER_NUM);
 // Public functions
 // --------------------------------------------------------------------------
 
-void HAL_timer_start(uint8_t timer_num, uint32_t frequency);
-void HAL_timer_enable_interrupt(uint8_t timer_num);
-void HAL_timer_disable_interrupt(uint8_t timer_num);
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
+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);
 
 /**
  * NOTE: By default libmaple sets ARPE = 1, which means the Auto reload register is preloaded (will only update with an update event)
diff --git a/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.cpp b/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.cpp
index 6a2d39234a..03bf9dadd6 100644
--- a/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.cpp
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.cpp
@@ -67,6 +67,14 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num) {
   }
 }
 
+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:
diff --git a/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h b/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
index 3675ea60bd..9482bee5b4 100644
--- a/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
@@ -68,6 +68,8 @@ typedef uint32_t hal_timer_t;
 
 #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)
 
@@ -110,8 +112,8 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_current_count(const uint8_t timer_
 
 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);
 
 #endif // _HAL_TIMERS_TEENSY_H
-