diff --git a/MAINTAINERS b/MAINTAINERS
index 252d71addd18..6adafd3e7a09 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -20050,6 +20050,7 @@ XILINX TIMER/PWM DRIVER
 M:	Sean Anderson <sean.anderson@seco.com>
 S:	Maintained
 F:	drivers/clocksource/timer-xilinx*
+F:	drivers/pwm/pwm-xilinx.c
 F:	include/clocksource/timer-xilinx.h
 
 XILINX UARTLITE SERIAL DRIVER
diff --git a/drivers/clocksource/Makefile b/drivers/clocksource/Makefile
index a7cba6ef5782..dcf434fdb726 100644
--- a/drivers/clocksource/Makefile
+++ b/drivers/clocksource/Makefile
@@ -88,4 +88,7 @@ obj-$(CONFIG_CSKY_MP_TIMER)		+= timer-mp-csky.o
 obj-$(CONFIG_GX6605S_TIMER)		+= timer-gx6605s.o
 obj-$(CONFIG_HYPERV_TIMER)		+= hyperv_timer.o
 obj-$(CONFIG_MICROCHIP_PIT64B)		+= timer-microchip-pit64b.o
-obj-$(CONFIG_XILINX_TIMER)		+= timer-xilinx.o timer-xilinx-common.o
+obj-$(CONFIG_XILINX_TIMER)		+= timer-xilinx.o
+ifneq ($(CONFIG_XILINX_TIMER$)(CONFIG_PWM_XILINX),)
+obj-y					+= timer-xilinx-common.o
+endif
diff --git a/drivers/pwm/Kconfig b/drivers/pwm/Kconfig
index c76adedd58c9..974774b7c987 100644
--- a/drivers/pwm/Kconfig
+++ b/drivers/pwm/Kconfig
@@ -637,4 +637,17 @@ config PWM_VT8500
 	  To compile this driver as a module, choose M here: the module
 	  will be called pwm-vt8500.
 
+config PWM_XILINX
+	tristate "Xilinx AXI Timer PWM support"
+	depends on COMMON_CLK
+	select REGMAP_MMIO
+	help
+	  PWM driver for Xilinx LogiCORE IP AXI timers. This timer is
+	  typically a soft core which may be present in Xilinx FPGAs.
+	  This device may also be present in Microblaze soft processors.
+	  If you don't have this IP in your design, choose N.
+
+	  To compile this driver as a module, choose M here: the module
+	  will be called pwm-xilinx.
+
 endif
diff --git a/drivers/pwm/Makefile b/drivers/pwm/Makefile
index 708840b7fba8..ea785480359b 100644
--- a/drivers/pwm/Makefile
+++ b/drivers/pwm/Makefile
@@ -60,3 +60,4 @@ obj-$(CONFIG_PWM_TWL)		+= pwm-twl.o
 obj-$(CONFIG_PWM_TWL_LED)	+= pwm-twl-led.o
 obj-$(CONFIG_PWM_VISCONTI)	+= pwm-visconti.o
 obj-$(CONFIG_PWM_VT8500)	+= pwm-vt8500.o
+obj-$(CONFIG_PWM_XILINX)	+= pwm-xilinx.o
diff --git a/drivers/pwm/pwm-xilinx.c b/drivers/pwm/pwm-xilinx.c
new file mode 100644
index 000000000000..291577be992f
--- /dev/null
+++ b/drivers/pwm/pwm-xilinx.c
@@ -0,0 +1,268 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Copyright (C) 2021 Sean Anderson <sean.anderson@seco.com>
+ *
+ * Limitations:
+ * - When changing both duty cycle and period, we may end up with one cycle
+ *   with the old duty cycle and the new period. This is because the counters
+ *   may only be reloaded by first stopping them, or by letting them be
+ *   automatically reloaded at the end of a cycle. If this automatic reload
+ *   happens after we set TLR0 but before we set TLR1 then we will will have a
+ *   bad cycle. This could probably be fixed by reading TCR0 just before
+ *   reprogramming, but I think it would add complexity for little gain.
+ * - Cannot produce 100% duty cycle by configuring the TLRs. This might be
+ *   possible by stopping the counters at an appropriate point in the cycle,
+ *   but this is not (yet) implemented.
+ * - Only produces "normal" output.
+ * - Always produces low output if disabled.
+ */
+
+#include <clocksource/timer-xilinx.h>
+#include <linux/clk.h>
+#include <linux/clk-provider.h>
+#include <linux/device.h>
+#include <linux/module.h>
+#include <linux/platform_device.h>
+#include <linux/pwm.h>
+#include <linux/regmap.h>
+
+/*
+ * The idea here is to capture whether the PWM is actually running (e.g.
+ * because we or the bootloader set it up) and we need to be careful to ensure
+ * we don't cause a glitch. According to the data sheet, to enable the PWM we
+ * need to
+ *
+ * - Set both timers to generate mode (MDT=1)
+ * - Set both timers to PWM mode (PWMA=1)
+ * - Enable the generate out signals (GENT=1)
+ *
+ * In addition,
+ *
+ * - The timer must be running (ENT=1)
+ * - The timer must auto-reload TLR into TCR (ARHT=1)
+ * - We must not be in the process of loading TLR into TCR (LOAD=0)
+ * - Cascade mode must be disabled (CASC=0)
+ *
+ * If any of these differ from usual, then the PWM is either disabled, or is
+ * running in a mode that this driver does not support.
+ */
+#define TCSR_PWM_SET (TCSR_GENT | TCSR_ARHT | TCSR_ENT | TCSR_PWMA)
+#define TCSR_PWM_CLEAR (TCSR_MDT | TCSR_LOAD)
+#define TCSR_PWM_MASK (TCSR_PWM_SET | TCSR_PWM_CLEAR)
+
+struct xilinx_pwm_device {
+	struct pwm_chip chip;
+	struct xilinx_timer_priv priv;
+};
+
+static inline struct xilinx_timer_priv
+*xilinx_pwm_chip_to_priv(struct pwm_chip *chip)
+{
+	return &container_of(chip, struct xilinx_pwm_device, chip)->priv;
+}
+
+static bool xilinx_timer_pwm_enabled(u32 tcsr0, u32 tcsr1)
+{
+	return ((TCSR_PWM_MASK | TCSR_CASC) & tcsr0) == TCSR_PWM_SET &&
+		(TCSR_PWM_MASK & tcsr1) == TCSR_PWM_SET;
+}
+
+static int xilinx_pwm_apply(struct pwm_chip *chip, struct pwm_device *unused,
+			    const struct pwm_state *state)
+{
+	bool enabled;
+	struct xilinx_timer_priv *priv = xilinx_pwm_chip_to_priv(chip);
+	u32 tlr0, tlr1, tcsr0, tcsr1;
+	u64 period_cycles, duty_cycles;
+	unsigned long rate;
+
+	if (state->polarity != PWM_POLARITY_NORMAL)
+		return -EINVAL;
+
+	/*
+	 * To be representable by TLR, cycles must be between 2 and
+	 * priv->max + 2. To enforce this we can reduce the duty
+	 * cycle, but we may not increase it.
+	 */
+	rate = clk_get_rate(priv->clk);
+	period_cycles = mul_u64_u32_div(state->period, rate, NSEC_PER_SEC);
+	if (period_cycles - 2 > priv->max || period_cycles < 2)
+		return -ERANGE;
+	duty_cycles = mul_u64_u32_div(state->duty_cycle, rate, NSEC_PER_SEC);
+
+	/*
+	 * If we specify 100% duty cycle, we will get 0% instead, so decrease
+	 * the duty cycle count by one.
+	 */
+	if (period_cycles == duty_cycles)
+		duty_cycles--;
+
+	/* Round down to 0% duty cycle for unrepresentable duty cycles */
+	if (duty_cycles < 2)
+		duty_cycles = period_cycles;
+
+	regmap_read(priv->map, TCSR0, &tcsr0);
+	regmap_read(priv->map, TCSR1, &tcsr1);
+	tlr0 = xilinx_timer_tlr_cycles(priv, tcsr0, period_cycles);
+	tlr1 = xilinx_timer_tlr_cycles(priv, tcsr1, duty_cycles);
+	regmap_write(priv->map, TLR0, tlr0);
+	regmap_write(priv->map, TLR1, tlr1);
+
+	enabled = xilinx_timer_pwm_enabled(tcsr0, tcsr1);
+	if (state->enabled) {
+		/*
+		 * If the PWM is already running, then the counters will be
+		 * reloaded at the end of the current cycle.
+		 */
+		if (!enabled) {
+			/* Load TLR into TCR */
+			regmap_write(priv->map, TCSR0, tcsr0 | TCSR_LOAD);
+			regmap_write(priv->map, TCSR1, tcsr1 | TCSR_LOAD);
+			/* Enable timers all at once with ENALL */
+			tcsr0 = (TCSR_PWM_SET & ~TCSR_ENT) | (tcsr0 & TCSR_UDT);
+			tcsr1 = TCSR_PWM_SET | TCSR_ENALL | (tcsr1 & TCSR_UDT);
+			regmap_write(priv->map, TCSR0, tcsr0);
+			regmap_write(priv->map, TCSR1, tcsr1);
+		}
+	} else {
+		regmap_write(priv->map, TCSR0, 0);
+		regmap_write(priv->map, TCSR1, 0);
+	}
+
+	return 0;
+}
+
+static void xilinx_pwm_get_state(struct pwm_chip *chip,
+				 struct pwm_device *unused,
+				 struct pwm_state *state)
+{
+	struct xilinx_timer_priv *priv = xilinx_pwm_chip_to_priv(chip);
+	u32 tlr0, tlr1, tcsr0, tcsr1;
+
+	regmap_read(priv->map, TLR0, &tlr0);
+	regmap_read(priv->map, TLR1, &tlr1);
+	regmap_read(priv->map, TCSR0, &tcsr0);
+	regmap_read(priv->map, TCSR1, &tcsr1);
+	state->period = xilinx_timer_get_period(priv, tlr0, tcsr0);
+	state->duty_cycle = xilinx_timer_get_period(priv, tlr1, tcsr1);
+	state->enabled = xilinx_timer_pwm_enabled(tcsr0, tcsr1);
+	state->polarity = PWM_POLARITY_NORMAL;
+
+	/* 100% duty cycle results in constant low output */
+	if (state->period == state->duty_cycle)
+		state->duty_cycle = 0;
+}
+
+static const struct pwm_ops xilinx_pwm_ops = {
+	.apply = xilinx_pwm_apply,
+	.get_state = xilinx_pwm_get_state,
+	.owner = THIS_MODULE,
+};
+
+static const struct regmap_config xilinx_pwm_regmap_config = {
+	.reg_bits = 32,
+	.reg_stride = 4,
+	.val_bits = 32,
+	.val_format_endian = REGMAP_ENDIAN_LITTLE,
+	.max_register = TCR1,
+	.disable_locking = true, /* The PWM subsystem handles locking */
+};
+
+static int xilinx_timer_probe(struct platform_device *pdev)
+{
+	int ret;
+	struct device *dev = &pdev->dev;
+	struct device_node *np = dev->of_node;
+	struct xilinx_timer_priv *priv;
+	struct xilinx_pwm_device *pwm;
+	u32 pwm_cells, one_timer;
+	void __iomem *regs;
+
+	ret = of_property_read_u32(np, "#pwm-cells", &pwm_cells);
+	if (ret == -EINVAL)
+		return -ENODEV;
+	else if (ret)
+		return dev_err_probe(dev, ret, "could not read #pwm-cells\n");
+
+	pwm = devm_kzalloc(dev, sizeof(*pwm), GFP_KERNEL);
+	if (!pwm)
+		return -ENOMEM;
+	platform_set_drvdata(pdev, pwm);
+	priv = &pwm->priv;
+
+	regs = devm_platform_ioremap_resource(pdev, 0);
+	if (IS_ERR(regs))
+		return PTR_ERR(regs);
+
+	priv->map = devm_regmap_init_mmio(dev, regs,
+					  &xilinx_pwm_regmap_config);
+	if (IS_ERR(priv->map))
+		return dev_err_probe(dev, PTR_ERR(priv->map),
+				     "could not create regmap\n");
+
+	ret = xilinx_timer_common_init(np, priv, &one_timer);
+	if (ret)
+		return ret;
+
+	if (one_timer)
+		return dev_err_probe(dev, -EINVAL,
+				     "two timers required for PWM mode\n");
+
+	/*
+	 * The polarity of the generate outputs must be active high for PWM
+	 * mode to work. We could determine this from the device tree, but
+	 * alas, such properties are not allowed to be used.
+	 */
+
+	priv->clk = devm_clk_get(dev, "s_axi_aclk");
+	if (IS_ERR(priv->clk))
+		return dev_err_probe(dev, PTR_ERR(priv->clk),
+				     "could not get clock\n");
+
+	ret = clk_prepare_enable(priv->clk);
+	if (ret)
+		return dev_err_probe(dev, ret, "clock enable failed\n");
+	clk_rate_exclusive_get(priv->clk);
+
+	pwm->chip.dev = dev;
+	pwm->chip.ops = &xilinx_pwm_ops;
+	pwm->chip.npwm = 1;
+	ret = pwmchip_add(&pwm->chip);
+	if (ret) {
+		clk_rate_exclusive_put(priv->clk);
+		clk_disable_unprepare(priv->clk);
+		return dev_err_probe(dev, ret, "could not register pwm chip\n");
+	}
+
+	return 0;
+}
+
+static int xilinx_timer_remove(struct platform_device *pdev)
+{
+	struct xilinx_pwm_device *pwm = platform_get_drvdata(pdev);
+
+	pwmchip_remove(&pwm->chip);
+	clk_rate_exclusive_put(pwm->priv.clk);
+	clk_disable_unprepare(pwm->priv.clk);
+	return 0;
+}
+
+static const struct of_device_id xilinx_timer_of_match[] = {
+	{ .compatible = "xlnx,xps-timer-1.00.a", },
+	{},
+};
+MODULE_DEVICE_TABLE(of, xilinx_timer_of_match);
+
+static struct platform_driver xilinx_timer_driver = {
+	.probe = xilinx_timer_probe,
+	.remove = xilinx_timer_remove,
+	.driver = {
+		.name = "xilinx-timer",
+		.of_match_table = of_match_ptr(xilinx_timer_of_match),
+	},
+};
+module_platform_driver(xilinx_timer_driver);
+
+MODULE_ALIAS("platform:xilinx-timer");
+MODULE_DESCRIPTION("Xilinx LogiCORE IP AXI Timer driver");
+MODULE_LICENSE("GPL v2");
