diff --git a/embedded-hal/CHANGELOG.md b/embedded-hal/CHANGELOG.md
index 3bba75f17..57f177103 100644
--- a/embedded-hal/CHANGELOG.md
+++ b/embedded-hal/CHANGELOG.md
@@ -7,6 +7,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [Unreleased]
 
+### Added
+- Added `pwm::SetDutyCycle` trait.
+
 ### Changed
 - gpio: add `ErrorKind` enum for consistency with other traits and for future extensibility. No kinds are defined for now.
 - delay: make infallible.
diff --git a/embedded-hal/src/lib.rs b/embedded-hal/src/lib.rs
index 8b65ded47..410305ac4 100644
--- a/embedded-hal/src/lib.rs
+++ b/embedded-hal/src/lib.rs
@@ -80,6 +80,7 @@
 pub mod delay;
 pub mod digital;
 pub mod i2c;
+pub mod pwm;
 pub mod serial;
 pub mod spi;
 
diff --git a/embedded-hal/src/pwm.rs b/embedded-hal/src/pwm.rs
new file mode 100644
index 000000000..1ba9c4df0
--- /dev/null
+++ b/embedded-hal/src/pwm.rs
@@ -0,0 +1,128 @@
+//! Pulse Width Modulation (PWM) traits
+
+/// Error
+pub trait Error: core::fmt::Debug {
+    /// Convert error to a generic error kind
+    ///
+    /// By using this method, errors freely defined by HAL implementations
+    /// can be converted to a set of generic errors upon which generic
+    /// code can act.
+    fn kind(&self) -> ErrorKind;
+}
+
+impl Error for core::convert::Infallible {
+    fn kind(&self) -> ErrorKind {
+        match *self {}
+    }
+}
+
+/// Error kind
+///
+/// This represents a common set of operation errors. HAL implementations are
+/// free to define more specific or additional error types. However, by providing
+/// a mapping to these common errors, generic code can still react to them.
+#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd, Hash)]
+#[non_exhaustive]
+pub enum ErrorKind {
+    /// A different error occurred. The original error may contain more information.
+    Other,
+}
+
+impl Error for ErrorKind {
+    fn kind(&self) -> ErrorKind {
+        *self
+    }
+}
+
+impl core::fmt::Display for ErrorKind {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        match self {
+            Self::Other => write!(
+                f,
+                "A different error occurred. The original error may contain more information"
+            ),
+        }
+    }
+}
+
+/// Error type trait
+///
+/// This just defines the error type, to be used by the other traits.
+pub trait ErrorType {
+    /// Error type
+    type Error: Error;
+}
+
+impl<T: ErrorType> ErrorType for &mut T {
+    type Error = T::Error;
+}
+
+/// Single PWM channel / pin
+pub trait SetDutyCycle: ErrorType {
+    /// Get the maximum duty cycle value.
+    ///
+    /// This value corresponds to a 100% duty cycle.
+    fn get_max_duty_cycle(&self) -> u16;
+
+    /// Set the duty cycle to `duty / max_duty`.
+    ///
+    /// The caller is responsible for ensuring that the duty cycle value is less than or equal to the maximum duty cycle value,
+    /// as reported by `get_max_duty`.
+    fn set_duty_cycle(&mut self, duty: u16) -> Result<(), Self::Error>;
+
+    /// Set the duty cycle to 0%, or always inactive.
+    #[inline]
+    fn set_duty_cycle_fully_off(&mut self) -> Result<(), Self::Error> {
+        self.set_duty_cycle(0)
+    }
+
+    /// Set the duty cycle to 100%, or always active.
+    #[inline]
+    fn set_duty_cycle_fully_on(&mut self) -> Result<(), Self::Error> {
+        self.set_duty_cycle(self.get_max_duty_cycle())
+    }
+
+    /// Set the duty cycle to `num / denom`.
+    ///
+    /// The caller is responsible for ensuring that `num` is less than or equal to `denom`,
+    /// and that `denom` is not zero.
+    #[inline]
+    fn set_duty_cycle_fraction(&mut self, num: u16, denom: u16) -> Result<(), Self::Error> {
+        let duty = num as u32 * self.get_max_duty_cycle() as u32 / denom as u32;
+        self.set_duty_cycle(duty as u16)
+    }
+
+    /// Set the duty cycle to `percent / 100`
+    ///
+    /// The caller is responsible for ensuring that `percent` is less than or equal to 100.
+    #[inline]
+    fn set_duty_cycle_percent(&mut self, percent: u8) -> Result<(), Self::Error> {
+        self.set_duty_cycle_fraction(percent as u16, 100)
+    }
+}
+
+impl<T: SetDutyCycle> SetDutyCycle for &mut T {
+    fn get_max_duty_cycle(&self) -> u16 {
+        T::get_max_duty_cycle(self)
+    }
+
+    fn set_duty_cycle(&mut self, duty: u16) -> Result<(), Self::Error> {
+        T::set_duty_cycle(self, duty)
+    }
+
+    fn set_duty_cycle_fully_off(&mut self) -> Result<(), Self::Error> {
+        T::set_duty_cycle_fully_off(self)
+    }
+
+    fn set_duty_cycle_fully_on(&mut self) -> Result<(), Self::Error> {
+        T::set_duty_cycle_fully_on(self)
+    }
+
+    fn set_duty_cycle_fraction(&mut self, num: u16, denom: u16) -> Result<(), Self::Error> {
+        T::set_duty_cycle_fraction(self, num, denom)
+    }
+
+    fn set_duty_cycle_percent(&mut self, percent: u8) -> Result<(), Self::Error> {
+        T::set_duty_cycle_percent(self, percent)
+    }
+}