diff --git a/Marlin/src/HAL/HAL_LPC1768/include/Wire.h b/Marlin/src/HAL/HAL_LPC1768/include/Wire.h
new file mode 100644
index 0000000000000000000000000000000000000000..7e736829b5932cb5097d70beef1492a45958e3b9
--- /dev/null
+++ b/Marlin/src/HAL/HAL_LPC1768/include/Wire.h
@@ -0,0 +1,58 @@
+/*
+ TwoWire.h - TWI/I2C library for Arduino & Wiring
+ Copyright (c) 2006 Nicholas Zambetti. All right reserved.
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library 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
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+ Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts
+*/
+
+// Modified for use with the mcp4451 digipot routine
+
+#if defined(TARGET_LPC1768)
+
+#ifndef TwoWire_h
+#define TwoWire_h
+
+#include <inttypes.h>
+
+class TwoWire
+{
+
+ public:
+// TwoWire();
+ void begin();
+ void beginTransmission(uint8_t);
+ uint8_t endTransmission(void);
+ size_t write(uint8_t);
+};
+
+//extern TwoWire Wire;//
+
+TwoWire Wire;
+
+ ////////////////////////////////////////////////////////////////////////////////////////
+ extern "C" uint8_t digipot_mcp4451_start(uint8_t sla);
+ extern "C" void digipot_mcp4451_init(void);
+ extern "C" uint8_t digipot_mcp4451_send_byte(uint8_t data);
+
+
+ void TwoWire::beginTransmission(uint8_t sla) { digipot_mcp4451_start(sla);}
+ void TwoWire::begin(void) {digipot_mcp4451_init();}
+ size_t TwoWire::write(uint8_t data) {return digipot_mcp4451_send_byte(data);}
+ uint8_t TwoWire::endTransmission(void) {return 1;}
+
+#endif
+#endif // TARGET_LPC1768
diff --git a/Marlin/src/HAL/HAL_LPC1768/include/digipot_mcp4451_I2C_routines.c b/Marlin/src/HAL/HAL_LPC1768/include/digipot_mcp4451_I2C_routines.c
new file mode 100644
index 0000000000000000000000000000000000000000..6b2372fcd6be3bd14ed641eaf5f11901e7a7256a
--- /dev/null
+++ b/Marlin/src/HAL/HAL_LPC1768/include/digipot_mcp4451_I2C_routines.c
@@ -0,0 +1,171 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016, 2017 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 <http://www.gnu.org/licenses/>.
+ *
+*/
+
+// adapted from I2C/master/master.c example
+// https://www-users.cs.york.ac.uk/~pcc/MCP/HAPR-Course-web/CMSIS/examples/html/master_8c_source.html
+
+
+
+#if defined(TARGET_LPC1768)
+
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+
+ #include <lpc17xx_i2c.h>
+ #include <lpc17xx_pinsel.h>
+ #include <lpc17xx_libcfg_default.h>
+
+ //////////////////////////////////////////////////////////////////////////////////////
+
+ // These two routines are exact copies of the lpc17xx_i2c.c routines. Couldn't link to
+ // to the lpc17xx_i2c.c routines so had to copy them into this file & rename them.
+
+ static uint32_t _I2C_Start (LPC_I2C_TypeDef *I2Cx)
+ {
+ // Reset STA, STO, SI
+ I2Cx->I2CONCLR = I2C_I2CONCLR_SIC|I2C_I2CONCLR_STOC|I2C_I2CONCLR_STAC;
+
+ // Enter to Master Transmitter mode
+ I2Cx->I2CONSET = I2C_I2CONSET_STA;
+
+ // Wait for complete
+ while (!(I2Cx->I2CONSET & I2C_I2CONSET_SI));
+ I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
+ return (I2Cx->I2STAT & I2C_STAT_CODE_BITMASK);
+ }
+
+ static void _I2C_Stop (LPC_I2C_TypeDef *I2Cx)
+ {
+
+ /* Make sure start bit is not active */
+ if (I2Cx->I2CONSET & I2C_I2CONSET_STA)
+ {
+ I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
+ }
+
+ I2Cx->I2CONSET = I2C_I2CONSET_STO|I2C_I2CONSET_AA;
+
+ I2Cx->I2CONCLR = I2C_I2CONCLR_SIC;
+ }
+
+
+ //////////////////////////////////////////////////////////////////////////////////////
+
+
+ #define USEDI2CDEV_M 1 // use I2C1 controller
+
+ #if (USEDI2CDEV_M == 0)
+ #define I2CDEV_M LPC_I2C0
+ #elif (USEDI2CDEV_M == 1)
+ #define I2CDEV_M LPC_I2C1
+ #elif (USEDI2CDEV_M == 2)
+ #define I2CDEV_M LPC_I2C2
+ #else
+ #error "Master I2C device not defined!"
+ #endif
+
+
+ PINSEL_CFG_Type PinCfg;
+ I2C_M_SETUP_Type transferMCfg;
+
+ #define I2C_status (LPC_I2C1->I2STAT & I2C_STAT_CODE_BITMASK)
+
+
+ uint8_t digipot_mcp4451_start(uint8_t sla) { // send slave address and write bit
+ // Sometimes TX data ACK or NAK status is returned. That mean the start state didn't
+ // happen which means only the value of the slave address was send. Keep looping until
+ // the slave address and write bit are actually sent.
+ do{
+ _I2C_Stop(I2CDEV_M); // output stop state on I2C bus
+ _I2C_Start(I2CDEV_M); // output start state on I2C bus
+ while ((I2C_status != I2C_I2STAT_M_TX_START)
+ && (I2C_status != I2C_I2STAT_M_TX_RESTART)
+ && (I2C_status != I2C_I2STAT_M_TX_DAT_ACK)
+ && (I2C_status != I2C_I2STAT_M_TX_DAT_NACK)); //wait for start to be asserted
+
+ LPC_I2C1->I2CONCLR = I2C_I2CONCLR_STAC; // clear start state before tansmitting slave address
+ LPC_I2C1->I2DAT = (sla <<1) & I2C_I2DAT_BITMASK; // transmit slave address & write bit
+ LPC_I2C1->I2CONSET = I2C_I2CONSET_AA;
+ LPC_I2C1->I2CONCLR = I2C_I2CONCLR_SIC;
+ while ((I2C_status != I2C_I2STAT_M_TX_SLAW_ACK)
+ && (I2C_status != I2C_I2STAT_M_TX_SLAW_NACK)
+ && (I2C_status != I2C_I2STAT_M_TX_DAT_ACK)
+ && (I2C_status != I2C_I2STAT_M_TX_DAT_NACK)); //wait for slaw to finish
+ }while ( (I2C_status == I2C_I2STAT_M_TX_DAT_ACK) || (I2C_status == I2C_I2STAT_M_TX_DAT_NACK));
+ return 1;
+ }
+
+
+ void digipot_mcp4451_init(void) {
+
+ /*
+ * Init I2C pin connect
+ */
+ PinCfg.OpenDrain = 0;
+ PinCfg.Pinmode = 0;
+ #if ((USEDI2CDEV_M == 0))
+ PinCfg.Funcnum = 1;
+ PinCfg.Pinnum = 27;
+ PinCfg.Portnum = 0;
+ PINSEL_ConfigPin(&PinCfg); // SDA0 / D57 AUX-1
+ PinCfg.Pinnum = 28;
+ PINSEL_ConfigPin(&PinCfg); // SCL0 / D58 AUX-1
+ #endif
+ #if ((USEDI2CDEV_M == 1))
+ PinCfg.Funcnum = 3;
+ PinCfg.Pinnum = 0;
+ PinCfg.Portnum = 0;
+ PINSEL_ConfigPin(&PinCfg); // SDA1 / D20 SCA
+ PinCfg.Pinnum = 1;
+ PINSEL_ConfigPin(&PinCfg); // SCL1 / D21 SCL
+ #endif
+ #if ((USEDI2CDEV_M == 2))
+ PinCfg.Funcnum = 2;
+ PinCfg.Pinnum = 10;
+ PinCfg.Portnum = 0;
+ PINSEL_ConfigPin(&PinCfg); // SDA2 / D38 X_ENABLE_PIN
+ PinCfg.Pinnum = 11;
+ PINSEL_ConfigPin(&PinCfg); // SCL2 / D55 X_DIR_PIN
+ #endif
+ // Initialize I2C peripheral
+ I2C_Init(I2CDEV_M, 400000); // hardwired to 400KHz bit rate, 100KHz is the other option
+
+ /* Enable Master I2C operation */
+ I2C_Cmd(I2CDEV_M, I2C_MASTER_MODE, ENABLE);
+ }
+
+
+ uint8_t digipot_mcp4451_send_byte(uint8_t data) {
+
+ LPC_I2C1->I2DAT = data & I2C_I2DAT_BITMASK; // transmit data
+ LPC_I2C1->I2CONSET = I2C_I2CONSET_AA;
+ LPC_I2C1->I2CONCLR = I2C_I2CONCLR_SIC;
+ while ((I2C_status != I2C_I2STAT_M_TX_DAT_ACK) && (I2C_status != I2C_I2STAT_M_TX_DAT_NACK)); // wait for xmit to finish
+ return 1;
+ }
+
+
+ #ifdef __cplusplus
+ }
+ #endif
+#endif
diff --git a/Marlin/src/HAL/utility/twi.h b/Marlin/src/HAL/utility/twi.h
new file mode 100644
index 0000000000000000000000000000000000000000..b80776ac40365afc536255866ef8a3285f98f8f5
--- /dev/null
+++ b/Marlin/src/HAL/utility/twi.h
@@ -0,0 +1,4 @@
+// Modified for use with the mcp4451 digipot routine
+#if defined(TARGET_LPC1768)
+
+#endif
diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h
index c87c4ea1dd07abef1f37b59577d31a39acc058f6..6ea55173645a6167b6f92fe29b8b70f819c45e31 100644
--- a/Marlin/src/module/stepper.h
+++ b/Marlin/src/module/stepper.h
@@ -297,7 +297,7 @@ class Stepper {
#ifdef CPU_32_BIT
// In case of high-performance processor, it is able to calculate in real-time
- constexpr uint32_t MIN_TIME_PER_STEP = (HAL_STEPPER_TIMER_RATE) / ((STEP_DOUBLER_FREQUENCY) * 2);
+ const uint32_t MIN_TIME_PER_STEP = (HAL_STEPPER_TIMER_RATE) / ((STEP_DOUBLER_FREQUENCY) * 2);
timer = uint32_t(HAL_STEPPER_TIMER_RATE) / step_rate;
NOLESS(timer, MIN_TIME_PER_STEP); // (STEP_DOUBLER_FREQUENCY * 2 kHz - this should never happen)
#else