diff --git a/boards/arm/stm32f0l0g0/common/include/board_pwm.h b/boards/arm/stm32f0l0g0/common/include/board_pwm.h
new file mode 100644
index 00000000000..b86407e0aa5
--- /dev/null
+++ b/boards/arm/stm32f0l0g0/common/include/board_pwm.h
@@ -0,0 +1,40 @@
+/****************************************************************************
+ * boards/arm/stm32f0l0g0/common/include/board_pwm.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM_STM32F0L0G0_COMMON_INCLUDE_BOARD_PWM_H
+#define __BOARDS_ARM_STM32F0L0G0_COMMON_INCLUDE_BOARD_PWM_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef CONFIG_PWM
+int stm32_pwm_setup(void);
+#endif
+
+#endif /* __BOARDS_ARM_STM32F0L0G0_COMMON_INCLUDE_BOARD_PWM_H */
diff --git a/boards/arm/stm32f0l0g0/common/src/CMakeLists.txt b/boards/arm/stm32f0l0g0/common/src/CMakeLists.txt
index 45d0130bc75..2b7dc2f3527 100644
--- a/boards/arm/stm32f0l0g0/common/src/CMakeLists.txt
+++ b/boards/arm/stm32f0l0g0/common/src/CMakeLists.txt
@@ -27,7 +27,11 @@ if(CONFIG_ARCH_BOARD_COMMON)
   endif()
 
   if(CONFIG_SENSORS_QENCODER)
-    list(APPEND SRCS stm32_qencoder.c)
+    list(APPEND SRCS board_qencoder.c)
+  endif()
+
+  if(CONFIG_PWM)
+    list(APPEND SRCS board_pwm.c)
   endif()
 
 endif()
diff --git a/boards/arm/stm32f0l0g0/common/src/Make.defs b/boards/arm/stm32f0l0g0/common/src/Make.defs
index b3c6f854286..972383a6291 100644
--- a/boards/arm/stm32f0l0g0/common/src/Make.defs
+++ b/boards/arm/stm32f0l0g0/common/src/Make.defs
@@ -30,6 +30,10 @@ ifeq ($(CONFIG_SENSORS_QENCODER),y)
   CSRCS += board_qencoder.c
 endif
 
+ifeq ($(CONFIG_PWM),y)
+  CSRCS += board_pwm.c
+endif
+
 DEPPATH += --dep-path src
 VPATH += :src
 CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src
diff --git a/boards/arm/stm32f0l0g0/common/src/board_pwm.c b/boards/arm/stm32f0l0g0/common/src/board_pwm.c
new file mode 100644
index 00000000000..793b0398537
--- /dev/null
+++ b/boards/arm/stm32f0l0g0/common/src/board_pwm.c
@@ -0,0 +1,174 @@
+/****************************************************************************
+ * boards/arm/stm32f0l0g0/common/src/board_pwm.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <errno.h>
+#include <stdbool.h>
+#include <sys/types.h>
+
+#include <nuttx/debug.h>
+#include <nuttx/timers/pwm.h>
+
+#include "stm32_pwm.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_pwm_setup
+ *
+ * Description:
+ *   Initialize PWM and register the PWM driver.
+ *
+ ****************************************************************************/
+
+int stm32_pwm_setup(void)
+{
+  static bool initialized;
+  struct pwm_lowerhalf_s *pwm;
+  int ret;
+
+  if (!initialized)
+    {
+#ifdef CONFIG_STM32F0L0G0_TIM1_PWM
+      pwm = stm32_pwminitialize(1);
+      if (pwm == NULL)
+        {
+          aerr("ERROR: Failed to get the STM32 PWM lower half\n");
+          return -ENODEV;
+        }
+
+      ret = pwm_register("/dev/pwm0", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          return ret;
+        }
+#endif
+
+#ifdef CONFIG_STM32F0L0G0_TIM2_PWM
+      pwm = stm32_pwminitialize(2);
+      if (pwm == NULL)
+        {
+          aerr("ERROR: Failed to get the STM32 PWM lower half\n");
+          return -ENODEV;
+        }
+
+      ret = pwm_register("/dev/pwm1", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          return ret;
+        }
+#endif
+
+#ifdef CONFIG_STM32F0L0G0_TIM3_PWM
+      pwm = stm32_pwminitialize(3);
+      if (pwm == NULL)
+        {
+          aerr("ERROR: Failed to get the STM32 PWM lower half\n");
+          return -ENODEV;
+        }
+
+      ret = pwm_register("/dev/pwm2", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          return ret;
+        }
+#endif
+
+#ifdef CONFIG_STM32F0L0G0_TIM14_PWM
+      pwm = stm32_pwminitialize(14);
+      if (pwm == NULL)
+        {
+          aerr("ERROR: Failed to get the STM32 PWM lower half\n");
+          return -ENODEV;
+        }
+
+      ret = pwm_register("/dev/pwm13", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          return ret;
+        }
+#endif
+
+#ifdef CONFIG_STM32F0L0G0_TIM15_PWM
+      pwm = stm32_pwminitialize(15);
+      if (pwm == NULL)
+        {
+          aerr("ERROR: Failed to get the STM32 PWM lower half\n");
+          return -ENODEV;
+        }
+
+      ret = pwm_register("/dev/pwm14", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          return ret;
+        }
+#endif
+
+#ifdef CONFIG_STM32F0L0G0_TIM16_PWM
+      pwm = stm32_pwminitialize(16);
+      if (pwm == NULL)
+        {
+          aerr("ERROR: Failed to get the STM32 PWM lower half\n");
+          return -ENODEV;
+        }
+
+      ret = pwm_register("/dev/pwm15", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          return ret;
+        }
+#endif
+
+#ifdef CONFIG_STM32F0L0G0_TIM17_PWM
+      pwm = stm32_pwminitialize(17);
+      if (pwm == NULL)
+        {
+          aerr("ERROR: Failed to get the STM32 PWM lower half\n");
+          return -ENODEV;
+        }
+
+      ret = pwm_register("/dev/pwm16", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          return ret;
+        }
+#endif
+
+      initialized = true;
+    }
+
+  return OK;
+}
diff --git a/boards/arm/stm32f0l0g0/nucleo-c071rb/configs/jumbo/defconfig b/boards/arm/stm32f0l0g0/nucleo-c071rb/configs/jumbo/defconfig
index 3509e2d4848..effe787fe75 100644
--- a/boards/arm/stm32f0l0g0/nucleo-c071rb/configs/jumbo/defconfig
+++ b/boards/arm/stm32f0l0g0/nucleo-c071rb/configs/jumbo/defconfig
@@ -37,6 +37,8 @@ CONFIG_EXAMPLES_ADC_SWTRIG=y
 CONFIG_EXAMPLES_BUTTONS=y
 CONFIG_EXAMPLES_HELLO=y
 CONFIG_EXAMPLES_NXMBSERVER=y
+CONFIG_EXAMPLES_PWM=y
+CONFIG_EXAMPLES_PWM_DEVPATH="/dev/pwm13"
 CONFIG_EXAMPLES_QENCODER=y
 CONFIG_EXAMPLES_WATCHDOG=y
 CONFIG_INDUSTRY_NXMODBUS=y
@@ -57,6 +59,7 @@ CONFIG_NXMODBUS_CLIENT=y
 CONFIG_POSIX_SPAWN_DEFAULT_STACKSIZE=1536
 CONFIG_PTHREAD_MUTEX_UNSAFE=y
 CONFIG_PTHREAD_STACK_DEFAULT=1536
+CONFIG_PWM=y
 CONFIG_RAM_SIZE=24576
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -73,6 +76,11 @@ CONFIG_STM32F0L0G0_ADC1=y
 CONFIG_STM32F0L0G0_ADC_MAX_SAMPLES=6
 CONFIG_STM32F0L0G0_DMA1=y
 CONFIG_STM32F0L0G0_IWDG=y
+CONFIG_STM32F0L0G0_PWM_MULTICHAN=y
+CONFIG_STM32F0L0G0_TIM14=y
+CONFIG_STM32F0L0G0_TIM14_CH1OUT=y
+CONFIG_STM32F0L0G0_TIM14_CHANNEL1=y
+CONFIG_STM32F0L0G0_TIM14_PWM=y
 CONFIG_STM32F0L0G0_TIM3=y
 CONFIG_STM32F0L0G0_TIM3_QE=y
 CONFIG_STM32F0L0G0_USART1=y
diff --git a/boards/arm/stm32f0l0g0/nucleo-c071rb/include/board.h b/boards/arm/stm32f0l0g0/nucleo-c071rb/include/board.h
index 154ae1e8941..5ca9fdd6cfa 100644
--- a/boards/arm/stm32f0l0g0/nucleo-c071rb/include/board.h
+++ b/boards/arm/stm32f0l0g0/nucleo-c071rb/include/board.h
@@ -77,6 +77,7 @@
 #define STM32_APB2_TIM1_CLKIN   STM32_PCLK1_FREQUENCY
 #define STM32_APB1_TIM2_CLKIN   STM32_PCLK1_FREQUENCY
 #define STM32_APB1_TIM3_CLKIN   STM32_PCLK1_FREQUENCY
+#define STM32_APB2_TIM14_CLKIN  STM32_PCLK1_FREQUENCY
 #define STM32_APB2_TIM15_CLKIN  STM32_PCLK1_FREQUENCY
 #define STM32_APB2_TIM16_CLKIN  STM32_PCLK1_FREQUENCY
 #define STM32_APB2_TIM17_CLKIN  STM32_PCLK1_FREQUENCY
@@ -170,6 +171,12 @@
 #define GPIO_TIM3_CH1IN     (GPIO_TIM3_CH1IN_2|GPIO_SPEED_HIGH)
 #define GPIO_TIM3_CH2IN     (GPIO_TIM3_CH2IN_6|GPIO_SPEED_HIGH)
 
+/* PWM on TIM14:
+ *   TIM14_CH1 - PA7 (D11)
+ */
+
+#define GPIO_TIM14_CH1OUT   (GPIO_TIM14_CH1OUT_2|GPIO_SPEED_HIGH)
+
 /* DMA channels *************************************************************/
 
 /* ADC */
diff --git a/boards/arm/stm32f0l0g0/nucleo-c071rb/src/stm32_bringup.c b/boards/arm/stm32f0l0g0/nucleo-c071rb/src/stm32_bringup.c
index 2110d39018e..574a196b778 100644
--- a/boards/arm/stm32f0l0g0/nucleo-c071rb/src/stm32_bringup.c
+++ b/boards/arm/stm32f0l0g0/nucleo-c071rb/src/stm32_bringup.c
@@ -46,6 +46,10 @@
 #  include "board_qencoder.h"
 #endif
 
+#ifdef CONFIG_PWM
+#  include "board_pwm.h"
+#endif
+
 #include <arch/board/board.h>
 
 #include "nucleo-c071rb.h"
@@ -110,6 +114,16 @@ int stm32_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_PWM
+  /* Initialize PWM and register the PWM device. */
+
+  ret = stm32_pwm_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: stm32_pwm_setup failed: %d\n", ret);
+    }
+#endif
+
 #ifdef CONFIG_SENSORS_QENCODER
   /* Initialize and register the qencoder driver - TIM3 */
 
diff --git a/boards/arm/stm32f0l0g0/nucleo-c092rc/configs/jumbo/defconfig b/boards/arm/stm32f0l0g0/nucleo-c092rc/configs/jumbo/defconfig
index 0bf1c6c009a..e3b8fb25c66 100644
--- a/boards/arm/stm32f0l0g0/nucleo-c092rc/configs/jumbo/defconfig
+++ b/boards/arm/stm32f0l0g0/nucleo-c092rc/configs/jumbo/defconfig
@@ -36,6 +36,8 @@ CONFIG_EXAMPLES_ADC_GROUPSIZE=2
 CONFIG_EXAMPLES_ADC_SWTRIG=y
 CONFIG_EXAMPLES_BUTTONS=y
 CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXAMPLES_PWM=y
+CONFIG_EXAMPLES_PWM_DEVPATH="/dev/pwm13"
 CONFIG_EXAMPLES_QENCODER=y
 CONFIG_EXAMPLES_WATCHDOG=y
 CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -54,6 +56,7 @@ CONFIG_NUNGET_CHARS=0
 CONFIG_POSIX_SPAWN_DEFAULT_STACKSIZE=1536
 CONFIG_PTHREAD_MUTEX_UNSAFE=y
 CONFIG_PTHREAD_STACK_DEFAULT=1536
+CONFIG_PWM=y
 CONFIG_RAM_SIZE=30720
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -69,6 +72,11 @@ CONFIG_STM32F0L0G0_ADC1=y
 CONFIG_STM32F0L0G0_ADC_MAX_SAMPLES=2
 CONFIG_STM32F0L0G0_DMA1=y
 CONFIG_STM32F0L0G0_IWDG=y
+CONFIG_STM32F0L0G0_PWM_MULTICHAN=y
+CONFIG_STM32F0L0G0_TIM14=y
+CONFIG_STM32F0L0G0_TIM14_CH1OUT=y
+CONFIG_STM32F0L0G0_TIM14_CHANNEL1=y
+CONFIG_STM32F0L0G0_TIM14_PWM=y
 CONFIG_STM32F0L0G0_TIM3=y
 CONFIG_STM32F0L0G0_TIM3_QE=y
 CONFIG_STM32F0L0G0_USART2=y
diff --git a/boards/arm/stm32f0l0g0/nucleo-c092rc/include/board.h b/boards/arm/stm32f0l0g0/nucleo-c092rc/include/board.h
index fe9f5cf786a..153327b730c 100644
--- a/boards/arm/stm32f0l0g0/nucleo-c092rc/include/board.h
+++ b/boards/arm/stm32f0l0g0/nucleo-c092rc/include/board.h
@@ -82,6 +82,7 @@
 #define STM32_APB2_TIM1_CLKIN   STM32_PCLK1_FREQUENCY
 #define STM32_APB1_TIM2_CLKIN   STM32_PCLK1_FREQUENCY
 #define STM32_APB1_TIM3_CLKIN   STM32_PCLK1_FREQUENCY
+#define STM32_APB2_TIM14_CLKIN  STM32_PCLK1_FREQUENCY
 #define STM32_APB2_TIM15_CLKIN  STM32_PCLK1_FREQUENCY
 #define STM32_APB2_TIM16_CLKIN  STM32_PCLK1_FREQUENCY
 #define STM32_APB2_TIM17_CLKIN  STM32_PCLK1_FREQUENCY
@@ -180,6 +181,12 @@
 #define GPIO_TIM3_CH1IN     (GPIO_TIM3_CH1IN_2|GPIO_SPEED_HIGH)
 #define GPIO_TIM3_CH2IN     (GPIO_TIM3_CH2IN_6|GPIO_SPEED_HIGH)
 
+/* PWM on TIM14:
+ *   TIM14_CH1 - PA7 (D11)
+ */
+
+#define GPIO_TIM14_CH1OUT   (GPIO_TIM14_CH1OUT_2|GPIO_SPEED_HIGH)
+
 /* DMA channels *************************************************************/
 
 /* ADC */
diff --git a/boards/arm/stm32f0l0g0/nucleo-c092rc/src/stm32_bringup.c b/boards/arm/stm32f0l0g0/nucleo-c092rc/src/stm32_bringup.c
index 14f9820f52d..bab34624d47 100644
--- a/boards/arm/stm32f0l0g0/nucleo-c092rc/src/stm32_bringup.c
+++ b/boards/arm/stm32f0l0g0/nucleo-c092rc/src/stm32_bringup.c
@@ -46,6 +46,10 @@
 #  include "board_qencoder.h"
 #endif
 
+#ifdef CONFIG_PWM
+#  include "board_pwm.h"
+#endif
+
 #include <arch/board/board.h>
 
 #include "nucleo-c092rc.h"
@@ -110,6 +114,16 @@ int stm32_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_PWM
+  /* Initialize PWM and register the PWM device. */
+
+  ret = stm32_pwm_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: stm32_pwm_setup failed: %d\n", ret);
+    }
+#endif
+
 #ifdef CONFIG_STM32F0L0G0_FDCAN_CHARDRIVER
   /* Initialize CAN and register the CAN driver. */