diff --git a/arch/arm/src/samv7/sam_pwm.c b/arch/arm/src/samv7/sam_pwm.c
index 71eab51dfc2b1..5f0650adc6b79 100644
--- a/arch/arm/src/samv7/sam_pwm.c
+++ b/arch/arm/src/samv7/sam_pwm.c
@@ -52,12 +52,6 @@
 
 #ifdef CONFIG_SAMV7_PWM
 
-#ifdef CONFIG_PWM_NCHANNELS
-#  define PWM_NCHANNELS  CONFIG_PWM_NCHANNELS
-#else
-#  define PWM_NCHANNELS  1
-#endif
-
 #define CHANNEL_OFFSET   0x20
 #define COMP_OFFSET      0x10
 #define FAULT_SEL_OFFSET 0x8
@@ -436,14 +430,14 @@ static uint32_t pwm_getreg(struct sam_pwm_s *priv, uint32_t offset);
 /* Helper functions */
 
 static void pwm_set_output(struct pwm_lowerhalf_s *dev, uint8_t channel,
-                           ub16_t duty);
+                           pwm_duty_t duty);
 static void pwm_set_freq(struct pwm_lowerhalf_s *dev, uint8_t channel,
-                         uint32_t frequency);
+                         pwm_freq_t frequency);
 static void pwm_set_comparison(struct pwm_lowerhalf_s *dev);
 #ifdef CONFIG_PWM_DEADTIME
 static void pwm_set_deadtime(struct pwm_lowerhalf_s *dev, uint8_t channel,
-                             ub16_t dead_time_a, ub16_t dead_time_b,
-                             ub16_t duty);
+                             pwm_duty_t dead_time_a, pwm_duty_t dead_time_b,
+                             pwm_duty_t duty);
 #endif
 static void pwm_set_polarity(struct pwm_lowerhalf_s *dev, uint8_t channel,
                              uint8_t cpol, uint8_t dcpol);
@@ -481,7 +475,7 @@ static uint32_t pwm_getreg(struct sam_pwm_s *priv, uint32_t offset)
  ****************************************************************************/
 
 static void pwm_set_freq(struct pwm_lowerhalf_s *dev, uint8_t channel,
-                         uint32_t frequency)
+                         pwm_freq_t frequency)
 {
   struct sam_pwm_s *priv = (struct sam_pwm_s *)dev;
   uint32_t regval;
@@ -542,7 +536,7 @@ static void pwm_set_freq(struct pwm_lowerhalf_s *dev, uint8_t channel,
  ****************************************************************************/
 
 static void pwm_set_output(struct pwm_lowerhalf_s *dev, uint8_t channel,
-                           ub16_t duty)
+                           pwm_duty_t duty)
 {
   struct sam_pwm_s *priv = (struct sam_pwm_s *)dev;
   uint16_t period;
@@ -555,7 +549,7 @@ static void pwm_set_output(struct pwm_lowerhalf_s *dev, uint8_t channel,
 
   /* Compute PWM width (count value to set PWM low) */
 
-  width = b16toi(duty * period + b16HALF);
+  width = b16toi(b16divi(ftob16(duty), 100) * period + b16HALF);
 
   /* Update duty cycle */
 
@@ -675,8 +669,8 @@ static void pwm_set_comparison(struct pwm_lowerhalf_s *dev)
 
 #ifdef CONFIG_PWM_DEADTIME
 static void pwm_set_deadtime(struct pwm_lowerhalf_s *dev, uint8_t channel,
-                             ub16_t dead_time_a, ub16_t dead_time_b,
-                             ub16_t duty)
+                             pwm_duty_t dead_time_a, pwm_duty_t dead_time_b,
+                             pwm_duty_t duty)
 {
   struct sam_pwm_s *priv = (struct sam_pwm_s *)dev;
   uint16_t period;
@@ -691,20 +685,14 @@ static void pwm_set_deadtime(struct pwm_lowerhalf_s *dev, uint8_t channel,
   /* Compute channel's duty cycle value. Dead time counter has only 12 bits
    * and not 16 as duty cycle or period counter. Therefore a 12 bits recount
    * is necessary to set the dead time value corresponding to selected
-   * frequency. This expects the dead time value selected in the application
-   * is moved left by 12 and devided by 100. For example:
-   *      dead_time_a = (selected_dead_time_duty << 12) / 100
-   * This aproach is the same as with duty cycle setup in the application
-   * but with 12 bits.
+   * frequency.
    *
    * Also note that it might not be possible to get correct delay on lower
    * frequencies since dead time register has only 12 bits.
    */
 
-  width_1 = (dead_time_a * period) >> 12;
-  width_2 = (dead_time_b * period) >> 12;
-
-  regval = b16toi(duty * period + b16HALF);
+  width_1 = (((b16_t)(dead_time_a * 4096.0f) / 100) * period) >> 12;
+  width_2 = (((b16_t)(dead_time_b * 4096.0f) / 100) * period) >> 12;
 
   /* It is required width_1 < (CORD - CDTY) and
    * width_2 < CDTY
@@ -957,7 +945,6 @@ static int pwm_start(struct pwm_lowerhalf_s *dev,
                      const struct pwm_info_s *info)
 {
   struct sam_pwm_s *priv = (struct sam_pwm_s *)dev;
-#ifdef CONFIG_PWM_MULTICHAN
   uint32_t regval;
 
   for (int i = 0; i < PWM_NCHANNELS; i++)
@@ -978,7 +965,7 @@ static int pwm_start(struct pwm_lowerhalf_s *dev,
           /* Set the frequency and enable PWM output for each channel */
 
           pwm_set_freq(dev, priv->channels[index - 1].channel,
-                        info->frequency);
+                        info->channels[i].frequency);
 #ifdef CONFIG_PWM_DEADTIME
           pwm_set_deadtime(dev, priv->channels[index - 1].channel,
                             info->channels[i].dead_time_a,
@@ -1030,18 +1017,6 @@ static int pwm_start(struct pwm_lowerhalf_s *dev,
       pwm_putreg(priv, SAMV7_PWM_ENA, CHID_SEL(1));
       pwm_putreg(priv, SAMV7_PWM_SCUC, regval);
     }
-#else
-  /* Set the frequency and enable PWM output just for first channel */
-
-  pwm_set_freq(dev, priv->channels[0].channel, info->frequency);
-#ifdef CONFIG_PWM_DEADTIME
-  pwm_set_deadtime(dev, priv->channels[0].channel,
-                    info->dead_time_a, info->dead_time_b);
-#endif
-  pwm_set_polarity(dev, priv->channels[0].channel,
-                    info->cpol, info->dcpol);
-  pwm_set_output(dev, priv->channels[0].channel, info->duty);
-#endif
 
   pwm_set_comparison(dev);
 
@@ -1072,7 +1047,6 @@ static int pwm_stop(struct pwm_lowerhalf_s *dev)
   struct sam_pwm_s *priv = (struct sam_pwm_s *)dev;
   uint32_t regval;
 
-#ifdef CONFIG_PWM_MULTICHAN
   for (int i = 0; i < priv->channels_num; i++)
     {
       regval = CHID_SEL(1 << priv->channels[i].channel);
@@ -1085,10 +1059,6 @@ static int pwm_stop(struct pwm_lowerhalf_s *dev)
   regval &= ~(CHID_SEL(1 << 0) | CHID_SEL(1 << 1) |
               CHID_SEL(1 << 2) | CHID_SEL(1 << 3));
   pwm_putreg(priv, SAMV7_PWM_SCM, regval);
-#else
-  regval = CHID_SEL(1 << priv->channels[0].channel);
-  pwm_putreg(priv, SAMV7_PWM_DIS, regval);
-#endif /* CONFIG_PWM_MULTICHAN */
 
   return OK;
 }
diff --git a/drivers/timers/pwm.c b/drivers/timers/pwm.c
index 9e627fdcde28f..ee3028a0f04de 100644
--- a/drivers/timers/pwm.c
+++ b/drivers/timers/pwm.c
@@ -114,21 +114,14 @@ static const struct file_operations g_pwmops =
 static void pwm_dump(FAR const char *msg, FAR const struct pwm_info_s *info,
                      bool started)
 {
-#ifdef CONFIG_PWM_MULTICHAN
   int i;
-#endif
-
-  pwminfo("%s: frequency: %" PRId32 "\n", msg, info->frequency);
 
-#ifdef CONFIG_PWM_MULTICHAN
-  for (i = 0; i < CONFIG_PWM_NCHANNELS; i++)
+  for (i = 0; i < PWM_NCHANNELS; i++)
     {
-      pwminfo(" channel: %d duty: %08" PRIx32 "\n",
-              info->channels[i].channel, info->channels[i].duty);
+      pwminfo(" channel: %d frequency: %" PWM_FREQ_PRI " duty:"
+              " %" PWM_FREQ_PRI "\n", info->channels[i].channel,
+              info->channels[i].frequency, info->channels[i].duty);
     }
-#else
-  pwminfo(" duty: %08" PRIx32 "\n", info->duty);
-#endif
 
 #ifdef CONFIG_PWM_PULSECOUNT
   pwminfo(" count: %" PRIx32 "\n", info->count);
diff --git a/include/nuttx/timers/pwm.h b/include/nuttx/timers/pwm.h
index 3e7a7c9812c23..3fa32bffee30f 100644
--- a/include/nuttx/timers/pwm.h
+++ b/include/nuttx/timers/pwm.h
@@ -138,61 +138,57 @@
 #define PWM_DCPOL_LOW            1   /* Logical zero */
 #define PWM_DCPOL_HIGH           2   /* Logical one  */
 
+/* PWM number of configured channels ****************************************/
+
+#ifdef CONFIG_PWM_MULTICHAN
+#define PWM_NCHANNELS CONFIG_PWM_NCHANNELS
+#else
+#define PWM_NCHANNELS 1
+#endif
+
+/* PWM frequency and duty types *********************************************/
+
+#ifdef CONFIG_HAVE_FLOAT
+typedef float pwm_freq_t;
+typedef float pwm_duty_t;
+#define PWM_FREQ_PRI "f"
+#define PWM_DUTY_PRI "f"
+#else
+typedef uint32_t pwm_freq_t;
+typedef uint8_t pwm_duty_t;
+#define PWM_FREQ_PRI PRIx32
+#define PWM_DUTY_PRI PRIx8
+#endif
+
 /****************************************************************************
  * Public Types
  ****************************************************************************/
 
-/* If the PWM peripheral supports multiple output channels, then this
- * structure describes the output state on one channel.
- */
+/* This structure describes the characteristics of one channel */
 
-#ifdef CONFIG_PWM_MULTICHAN
 struct pwm_chan_s
 {
-  ub16_t duty;
+  pwm_freq_t frequency;
+  pwm_duty_t duty;
 #ifdef CONFIG_PWM_OVERWRITE
   bool ch_outp_ovrwr;
   bool ch_outp_ovrwr_val;
 #endif
 #ifdef CONFIG_PWM_DEADTIME
-  ub16_t dead_time_a;
-  ub16_t dead_time_b;
+  pwm_duty_t dead_time_a;
+  pwm_duty_t dead_time_b;
 #endif
   uint8_t cpol;
   uint8_t dcpol;
   int8_t channel;
 };
-#endif
 
-/* This structure describes the characteristics of the pulsed output */
+/* This structure describes the PWM device */
 
 struct pwm_info_s
 {
-  uint32_t           frequency; /* Frequency of the pulse train */
-
-#ifdef CONFIG_PWM_MULTICHAN
-                                /* Per-channel output state */
-
-  struct pwm_chan_s  channels[CONFIG_PWM_NCHANNELS];
-
-#else
-  ub16_t             duty;      /* Duty of the pulse train, "1"-to-"0" duration.
-                                 * Maximum: 65535/65536 (0x0000ffff)
-                                 * Minimum:     1/65536 (0x00000001) */
-#ifdef CONFIG_PWM_DEADTIME
-  ub16_t dead_time_a;           /* Dead time value for main output */
-  ub16_t dead_time_b;           /* Dead time value for complementary output */
-#endif
-#  ifdef CONFIG_PWM_PULSECOUNT
-  uint32_t           count;     /* The number of pulse to generate.  0 means to
-                                 * generate an indefinite number of pulses */
-#  endif
-  uint8_t cpol;                 /* Channel polarity */
-  uint8_t dcpol;                /* Disabled channel polarity */
-#endif /* CONFIG_PWM_MULTICHAN */
-
-  FAR void           *arg;      /* User provided argument to be used in the
-                                 * lower half */
+  struct pwm_chan_s  channels[PWM_NCHANNELS];
+  FAR void           *arg; 
 };
 
 /* This structure is a set a callback functions used to call from the upper-