diff --git a/arch/arm/src/stm32/Kconfig b/arch/arm/src/stm32/Kconfig
index c6f589d89d2..30c7c76559e 100644
--- a/arch/arm/src/stm32/Kconfig
+++ b/arch/arm/src/stm32/Kconfig
@@ -3244,7 +3244,7 @@ config STM32_TIM1_DEADTIME
 	---help---
 		Timer 1 initial dead-time
 
-if STM32_PWM_MULTICHAN
+if STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
 config STM32_TIM1_CHANNEL1
 	bool "TIM1 Channel 1"
@@ -3408,9 +3408,9 @@ config STM32_TIM1_CH6OUT
 
 endif # STM32_TIM1_CHANNEL6
 
-endif # STM32_PWM_MULTICHAN
+endif # STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
-if !STM32_PWM_MULTICHAN
+if !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 config STM32_TIM1_CHANNEL
 	int "TIM1 PWM Output Channel"
@@ -3486,7 +3486,7 @@ config STM32_TIM1_CHMODE
 	---help---
 		Specifies the channel mode. See enum stm32_pwm_chanmode_e in stm32_pwm.h.
 
-endif # !STM32_PWM_MULTICHAN
+endif # !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 endif # STM32_TIM1_PWM
 
@@ -3513,7 +3513,7 @@ config STM32_TIM2_MODE
 	---help---
 		Specifies the timer mode.
 
-if STM32_PWM_MULTICHAN
+if STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
 config STM32_TIM2_CHANNEL1
 	bool "TIM2 Channel 1"
@@ -3611,9 +3611,9 @@ config STM32_TIM2_CH4OUT
 
 endif # STM32_TIM2_CHANNEL4
 
-endif # STM32_PWM_MULTICHAN
+endif # STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
-if !STM32_PWM_MULTICHAN
+if !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 config STM32_TIM2_CHANNEL
 	int "TIM2 PWM Output Channel"
@@ -3671,7 +3671,7 @@ config STM32_TIM2_CHMODE
 	---help---
 		Specifies the channel mode. See enum stm32_pwm_chanmode_e in stm32_pwm.h.
 
-endif # !STM32_PWM_MULTICHAN
+endif # !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 endif # STM32_TIM2_PWM
 
@@ -3698,7 +3698,7 @@ config STM32_TIM3_MODE
 	---help---
 		Specifies the timer mode.
 
-if STM32_PWM_MULTICHAN
+if STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
 config STM32_TIM3_CHANNEL1
 	bool "TIM3 Channel 1"
@@ -3796,9 +3796,9 @@ config STM32_TIM3_CH4OUT
 
 endif # STM32_TIM3_CHANNEL4
 
-endif # STM32_PWM_MULTICHAN
+endif # STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
-if !STM32_PWM_MULTICHAN
+if !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 config STM32_TIM3_CHANNEL
 	int "TIM3 PWM Output Channel"
@@ -3856,7 +3856,7 @@ config STM32_TIM3_CHMODE
 	---help---
 		Specifies the channel mode. See enum stm32_pwm_chanmode_e in stm32_pwm.h.
 
-endif # !STM32_PWM_MULTICHAN
+endif # !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 endif # STM32_TIM3_PWM
 
@@ -3883,7 +3883,7 @@ config STM32_TIM4_MODE
 	---help---
 		Specifies the timer mode.
 
-if STM32_PWM_MULTICHAN
+if STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
 config STM32_TIM4_CHANNEL1
 	bool "TIM4 Channel 1"
@@ -3981,9 +3981,9 @@ config STM32_TIM4_CH4OUT
 
 endif # STM32_TIM4_CHANNEL4
 
-endif # STM32_PWM_MULTICHAN
+endif # STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
-if !STM32_PWM_MULTICHAN
+if !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 config STM32_TIM4_CHANNEL
 	int "TIM4 PWM Output Channel"
@@ -4041,7 +4041,7 @@ config STM32_TIM4_CHMODE
 	---help---
 		Specifies the channel mode. See enum stm32_pwm_chanmode_e in stm32_pwm.h.
 
-endif # !STM32_PWM_MULTICHAN
+endif # !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 endif # STM32_TIM4_PWM
 
@@ -4068,7 +4068,7 @@ config STM32_TIM5_MODE
 	---help---
 		Specifies the timer mode.
 
-if STM32_PWM_MULTICHAN
+if STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
 config STM32_TIM5_CHANNEL1
 	bool "TIM5 Channel 1"
@@ -4166,9 +4166,9 @@ config STM32_TIM5_CH4OUT
 
 endif # STM32_TIM5_CHANNEL4
 
-endif # STM32_PWM_MULTICHAN
+endif # STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
-if !STM32_PWM_MULTICHAN
+if !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 config STM32_TIM5_CHANNEL
 	int "TIM5 PWM Output Channel"
@@ -4226,7 +4226,7 @@ config STM32_TIM5_CHMODE
 	---help---
 		Specifies the channel mode. See enum stm32_pwm_chanmode_e in stm32_pwm.h.
 
-endif # !STM32_PWM_MULTICHAN
+endif # !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 endif # STM32_TIM5_PWM
 
@@ -4274,7 +4274,7 @@ config STM32_TIM8_TDTS
 	---help---
 		Timer 8 dead-time and sampling clock (t_DTS) division
 
-if STM32_PWM_MULTICHAN
+if STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
 config STM32_TIM8_CHANNEL1
 	bool "TIM8 Channel 1"
@@ -4438,9 +4438,9 @@ config STM32_TIM8_CH6OUT
 
 endif # STM32_TIM8_CHANNEL6
 
-endif # STM32_PWM_MULTICHAN
+endif # STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
-if !STM32_PWM_MULTICHAN
+if !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 config STM32_TIM8_CHANNEL
 	int "TIM8 PWM Output Channel"
@@ -4516,7 +4516,7 @@ config STM32_TIM8_CHMODE
 	---help---
 		Specifies the channel mode. See enum stm32_pwm_chanmode_e in stm32_pwm.h.
 
-endif # !STM32_PWM_MULTICHAN
+endif # !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 endif # STM32_TIM8_PWM
 
@@ -4536,7 +4536,7 @@ config STM32_TIM9_PWM
 
 if STM32_TIM9_PWM
 
-if STM32_PWM_MULTICHAN
+if STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
 config STM32_TIM9_CHANNEL1
 	bool "TIM9 Channel 1"
@@ -4586,9 +4586,9 @@ config STM32_TIM9_CH2OUT
 
 endif # STM32_TIM9_CHANNEL2
 
-endif # STM32_PWM_MULTICHAN
+endif # STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
-if !STM32_PWM_MULTICHAN
+if !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 config STM32_TIM9_CHANNEL
 	int "TIM9 PWM Output Channel"
@@ -4626,7 +4626,7 @@ config STM32_TIM9_CHMODE
 	---help---
 		Specifies the channel mode. See enum stm32_pwm_chanmode_e in stm32_pwm.h.
 
-endif # !STM32_PWM_MULTICHAN
+endif # !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 endif # STM32_TIM9_PWM
 
@@ -4646,7 +4646,7 @@ config STM32_TIM10_PWM
 
 if STM32_TIM10_PWM
 
-if STM32_PWM_MULTICHAN
+if STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
 config STM32_TIM10_CHANNEL1
 	bool "TIM10 Channel 1"
@@ -4672,9 +4672,9 @@ config STM32_TIM10_CH1OUT
 
 endif # STM32_TIM10_CHANNEL1
 
-endif # STM32_PWM_MULTICHAN
+endif # STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
-if !STM32_PWM_MULTICHAN
+if !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 config STM32_TIM10_CHANNEL
 	int "TIM10 PWM Output Channel"
@@ -4702,7 +4702,7 @@ config STM32_TIM10_CHMODE
 	---help---
 		Specifies the channel mode. See enum stm32_pwm_chanmode_e in stm32_pwm.h.
 
-endif # !STM32_PWM_MULTICHAN
+endif # !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 endif # STM32_TIM10_PWM
 
@@ -4722,7 +4722,7 @@ config STM32_TIM11_PWM
 
 if STM32_TIM11_PWM
 
-if STM32_PWM_MULTICHAN
+if STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
 config STM32_TIM11_CHANNEL1
 	bool "TIM11 Channel 1"
@@ -4748,9 +4748,9 @@ config STM32_TIM11_CH1OUT
 
 endif # STM32_TIM11_CHANNEL1
 
-endif # STM32_PWM_MULTICHAN
+endif # STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
-if !STM32_PWM_MULTICHAN
+if !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 config STM32_TIM11_CHANNEL
 	int "TIM11 PWM Output Channel"
@@ -4778,7 +4778,7 @@ config STM32_TIM11_CHMODE
 	---help---
 		Specifies the channel mode. See enum stm32_pwm_chanmode_e in stm32_pwm.h.
 
-endif # !STM32_PWM_MULTICHAN
+endif # !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 endif # STM32_TIM11_PWM
 
@@ -4798,7 +4798,7 @@ config STM32_TIM12_PWM
 
 if STM32_TIM12_PWM
 
-if STM32_PWM_MULTICHAN
+if STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
 config STM32_TIM12_CHANNEL1
 	bool "TIM12 Channel 1"
@@ -4848,9 +4848,9 @@ config STM32_TIM12_CH2OUT
 
 endif # STM32_TIM12_CHANNEL2
 
-endif # STM32_PWM_MULTICHAN
+endif # STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
-if !STM32_PWM_MULTICHAN
+if !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 config STM32_TIM12_CHANNEL
 	int "TIM12 PWM Output Channel"
@@ -4888,7 +4888,7 @@ config STM32_TIM12_CHMODE
 	---help---
 		Specifies the channel mode. See enum stm32_pwm_chanmode_e in stm32_pwm.h.
 
-endif # !STM32_PWM_MULTICHAN
+endif # !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 endif # STM32_TIM12_PWM
 
@@ -4908,7 +4908,7 @@ config STM32_TIM13_PWM
 
 if STM32_TIM13_PWM
 
-if STM32_PWM_MULTICHAN
+if STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
 config STM32_TIM13_CHANNEL1
 	bool "TIM13 Channel 1"
@@ -4934,9 +4934,9 @@ config STM32_TIM13_CH1OUT
 
 endif # STM32_TIM13_CHANNEL1
 
-endif # STM32_PWM_MULTICHAN
+endif # STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
-if !STM32_PWM_MULTICHAN
+if !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 config STM32_TIM13_CHANNEL
 	int "TIM13 PWM Output Channel"
@@ -4964,7 +4964,7 @@ config STM32_TIM13_CHMODE
 	---help---
 		Specifies the channel mode. See enum stm32_pwm_chanmode_e in stm32_pwm.h.
 
-endif # !STM32_PWM_MULTICHAN
+endif # !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 endif # STM32_TIM13_PWM
 
@@ -4984,7 +4984,7 @@ config STM32_TIM14_PWM
 
 if STM32_TIM14_PWM
 
-if STM32_PWM_MULTICHAN
+if STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
 config STM32_TIM14_CHANNEL1
 	bool "TIM14 Channel 1"
@@ -5010,9 +5010,9 @@ config STM32_TIM14_CH1OUT
 
 endif # STM32_TIM14_CHANNEL1
 
-endif # STM32_PWM_MULTICHAN
+endif # STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
-if !STM32_PWM_MULTICHAN
+if !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 config STM32_TIM14_CHANNEL
 	int "TIM14 PWM Output Channel"
@@ -5040,7 +5040,7 @@ config STM32_TIM14_CHMODE
 	---help---
 		Specifies the channel mode. See enum stm32_pwm_chanmode_e in stm32_pwm.h.
 
-endif # !STM32_PWM_MULTICHAN
+endif # !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 endif # STM32_TIM14_PWM
 
@@ -5080,7 +5080,7 @@ config STM32_TIM15_DEADTIME
 	---help---
 		Timer 15 initial dead-time
 
-if STM32_PWM_MULTICHAN
+if STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
 config STM32_TIM15_CHANNEL1
 	bool "TIM15 Channel 1"
@@ -5136,9 +5136,9 @@ config STM32_TIM15_CH2OUT
 
 endif # STM32_TIM15_CHANNEL2
 
-endif # STM32_PWM_MULTICHAN
+endif # STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
-if !STM32_PWM_MULTICHAN
+if !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 config STM32_TIM15_CHANNEL
 	int "TIM15 PWM Output Channel"
@@ -5188,7 +5188,7 @@ config STM32_TIM15_CHMODE
 	---help---
 		Specifies the channel mode. See enum stm32_pwm_chanmode_e in stm32_pwm.h.
 
-endif # !STM32_PWM_MULTICHAN
+endif # !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 endif # STM32_TIM15_PWM
 
@@ -5228,7 +5228,7 @@ config STM32_TIM16_DEADTIME
 	---help---
 		Timer 16 initial dead-time
 
-if STM32_PWM_MULTICHAN
+if STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
 config STM32_TIM16_CHANNEL1
 	bool "TIM16 Channel 1"
@@ -5253,9 +5253,9 @@ config STM32_TIM16_CH1OUT
 
 endif # STM32_TIM16_CHANNEL1
 
-endif # STM32_PWM_MULTICHAN
+endif # STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
-if !STM32_PWM_MULTICHAN
+if !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 config STM32_TIM16_CHANNEL
 	int "TIM16 PWM Output Channel"
@@ -5282,7 +5282,7 @@ config STM32_TIM16_CHMODE
 	---help---
 		Specifies the channel mode. See enum stm32_pwm_chanmode_e in stm32_pwm.h.
 
-endif # !STM32_PWM_MULTICHAN
+endif # !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 endif # STM32_TIM16_PWM
 
@@ -5322,7 +5322,7 @@ config STM32_TIM17_DEADTIME
 	---help---
 		Timer 17 initial dead-time
 
-if STM32_PWM_MULTICHAN
+if STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
 config STM32_TIM17_CHANNEL1
 	bool "TIM17 Channel 1"
@@ -5347,9 +5347,9 @@ config STM32_TIM17_CH1OUT
 
 endif # STM32_TIM17_CHANNEL1
 
-endif # STM32_PWM_MULTICHAN
+endif # STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT
 
-if !STM32_PWM_MULTICHAN
+if !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 config STM32_TIM17_CHANNEL
 	int "TIM17 PWM Output Channel"
@@ -5376,7 +5376,7 @@ config STM32_TIM17_CHMODE
 	---help---
 		Specifies the channel mode. See enum stm32_pwm_chanmode_e in stm32_pwm.h.
 
-endif # !STM32_PWM_MULTICHAN
+endif # !(STM32_PWM_MULTICHAN || STM32_PWM_MULTICHAN_SELECT)
 
 endif # STM32_TIM17_PWM
 
@@ -5389,6 +5389,15 @@ config STM32_PWM_MULTICHAN
 		Specifies that the PWM driver supports multiple output
 		channels per timer.
 
+config STM32_PWM_MULTICHAN_SELECT
+	bool "PWM Multiple Output Channels with unit selection"
+	default n
+	depends on STM32_TIM1_PWM || STM32_TIM2_PWM || STM32_TIM3_PWM || STM32_TIM4_PWM || STM32_TIM5_PWM || STM32_TIM8_PWM || STM32_TIM9_PWM || STM32_TIM10_PWM || STM32_TIM11_PWM || STM32_TIM12_PWM || STM32_TIM13_PWM || STM32_TIM14_PWM || STM32_TIM15_PWM || STM32_TIM16_PWM || STM32_TIM17_PWM
+	select ARCH_HAVE_PWM_MULTICHAN
+	---help---
+		Specifies that the PWM driver supports multiple output
+		channels per timer and each output is individually configurable.
+
 config STM32_PWM_TRGO
 	bool "TIM PWM TRGO support"
 	default n
diff --git a/arch/arm/src/stm32/stm32_pwm.c b/arch/arm/src/stm32/stm32_pwm.c
index 8b02609f01f..13cd13bacd3 100644
--- a/arch/arm/src/stm32/stm32_pwm.c
+++ b/arch/arm/src/stm32/stm32_pwm.c
@@ -2293,10 +2293,10 @@ static int pwm_duty_update(FAR struct pwm_lowerhalf_s *dev, uint8_t channel,
   pwminfo("TIM%u channel: %u duty: %08x\n",
           priv->timid, channel, duty);
 
-#ifndef CONFIG_PWM_MULTICHAN
+#if (!defined(CONFIG_PWM_MULTICHAN) && !defined(CONFIG_PWM_MULTICHAN_SELECT))
   DEBUGASSERT(channel == priv->channels[0].channel);
   DEBUGASSERT(duty >= 0 && duty < uitoub16(100));
-#endif
+#endif  
 
   /* Get the reload values */
 
@@ -3583,7 +3583,9 @@ errout:
 static int pwm_duty_channels_update(FAR struct pwm_lowerhalf_s *dev,
                                     FAR const struct pwm_info_s *info)
 {
+#ifndef CONFIG_PWM_MULTICHAN_SELECT    
   FAR struct stm32_pwmtimer_s *priv = (FAR struct stm32_pwmtimer_s *)dev;
+#endif  
   uint8_t   channel = 0;
   ub16_t    duty    = 0;
   int       ret     = OK;
@@ -3624,8 +3626,12 @@ static int pwm_duty_channels_update(FAR struct pwm_lowerhalf_s *dev,
             }
 #else
           duty = info->duty;
+#ifdef CONFIG_PWM_MULTICHAN_SELECT          
+          channel = info->chan_num;   /* only update specified PWM channel */
+#else
           channel = priv->channels[0].channel;
-#endif
+#endif  /* CONFIG_PWM_MULTICHAN_SELECT */
+#endif  /* CONFIG_PWM_MULTICHAN */
 
           /* Update duty cycle */
 
@@ -3670,11 +3676,15 @@ static int pwm_timer(FAR struct pwm_lowerhalf_s *dev,
 #if defined(CONFIG_PWM_MULTICHAN)
   pwminfo("TIM%u frequency: %u\n",
           priv->timid, info->frequency);
-#else
+#elif defined(CONFIG_PWM_MULTICHAN_SELECT)
+  pwminfo("TIM%u channel: %u frequency: %u duty: %08x\n",
+          priv->timid, info->channel,
+          info->frequency, info->duty);
+#else /* !CONFIG_PWM_MULTICHAN && !CONFIG_PWM_MULTICHAN_SELECT */
   pwminfo("TIM%u channel: %u frequency: %u duty: %08x\n",
           priv->timid, priv->channels[0].channel,
           info->frequency, info->duty);
-#endif
+#endif /* CONFIG_PWM_MULTICHAN */      
 
   DEBUGASSERT(info->frequency > 0);
 #ifndef CONFIG_PWM_MULTICHAN
@@ -4295,7 +4305,32 @@ static int pwm_start(FAR struct pwm_lowerhalf_s *dev,
 
   return pwm_pulsecount_timer(dev, info);
 }
-#else  /* !CONFIG_PWM_PULSECOUNT */
+#elif  defined(CONFIG_PWM_MULTICHAN_SELECT)
+static int pwm_start(FAR struct pwm_lowerhalf_s *dev,
+                     FAR const struct pwm_info_s *info)
+{
+  FAR struct stm32_pwmtimer_s *priv = (FAR struct stm32_pwmtimer_s *)dev;
+  int ret = OK;
+
+   /* if frequency has not changed we just update duty for specified channel */
+  if (info->frequency == priv->frequency)
+    {
+      ret = pwm_duty_update(dev, info->chan_num, info->duty);
+    }
+  else
+    {
+      ret = pwm_timer(dev, info);
+
+       /* Save current frequency */
+      if (ret == OK)
+        {
+          priv->frequency = info->frequency;
+        }
+    }
+
+   return ret;
+}
+#else  /* !CONFIG_PWM_PULSECOUNT && !CONFIG_PWM_MULTICHAN_SELECT */
 static int pwm_start(FAR struct pwm_lowerhalf_s *dev,
                      FAR const struct pwm_info_s *info)
 {
diff --git a/arch/arm/src/stm32/stm32_pwm.h b/arch/arm/src/stm32/stm32_pwm.h
index c12e95f1385..6834e9cfea2 100644
--- a/arch/arm/src/stm32/stm32_pwm.h
+++ b/arch/arm/src/stm32/stm32_pwm.h
@@ -125,7 +125,7 @@
 
 /* PWM driver channels configuration */
 
-#ifdef CONFIG_STM32_PWM_MULTICHAN
+#if defined(CONFIG_STM32_PWM_MULTICHAN) || defined(CONFIG_STM32_PWM_MULTICHAN_SELECT)
 
 #ifdef CONFIG_STM32_TIM1_CHANNEL1
 #  define PWM_TIM1_CHANNEL1 1
@@ -365,7 +365,7 @@
 #endif
 #define PWM_TIM17_NCHANNELS PWM_TIM17_CHANNEL1
 
-#else  /* !CONFIG_PWM_MULTICHAN */
+#else  /* !(CONFIG_STM32_PWM_MULTICHAN || CONFIG_STM32_PWM_MULTICHAN_SELECT) */
 
 /* For each timer that is enabled for PWM usage, we need the following additional
  * configuration settings:
diff --git a/drivers/pwm/Kconfig b/drivers/pwm/Kconfig
index 9334bb1b4ad..d9bfc08ddcb 100644
--- a/drivers/pwm/Kconfig
+++ b/drivers/pwm/Kconfig
@@ -23,6 +23,15 @@ config PWM_MULTICHAN
 	---help---
 		Enables support for multiple output channels per timer.
 
+config PWM_MULTICHAN_SELECT
+	bool "PWM Multiple Output Channel Support"
+	default n
+	depends on ARCH_HAVE_PWM_MULTICHAN
+	depends on !PWM_PULSECOUNT
+	---help---
+		Enables support for multiple output channels per timer with
+		ability to set timers individually.
+
 if PWM_MULTICHAN
 
 config PWM_NCHANNELS
diff --git a/include/nuttx/drivers/pwm.h b/include/nuttx/drivers/pwm.h
index c3316cd315a..d9db35e8f19 100644
--- a/include/nuttx/drivers/pwm.h
+++ b/include/nuttx/drivers/pwm.h
@@ -154,6 +154,9 @@ struct pwm_info_s
   uint32_t           count;     /* The number of pulse to generate.  0 means to
                                  * generate an indefinite number of pulses */
 #  endif
+#  ifdef CONFIG_PWM_MULTICHAN_SELECT
+  uint8_t            chan_num;  /* Selects the PWM channel number to modify */
+#endif
 #endif /* CONFIG_PWM_MULTICHAN */
 };