diff --git a/src/Kconfig b/src/Kconfig
index 0445685e..db265c96 100644
--- a/src/Kconfig
+++ b/src/Kconfig
@@ -21,6 +21,9 @@ config HAVE_GPIO_ADC
 config HAVE_GPIO_SPI
     bool
     default n
+config HAVE_GPIO_HARD_PWM
+    bool
+    default n
 
 config INLINE_STEPPER_HACK
     # Enables gcc to inline stepper_event() into the main timer irq handler
diff --git a/src/Makefile b/src/Makefile
index 5c7dc085..b4a4c33e 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -3,3 +3,4 @@
 src-y += sched.c command.c stepper.c basecmd.c gpiocmds.c endstop.c
 src-$(CONFIG_HAVE_GPIO_ADC) += adccmds.c
 src-$(CONFIG_HAVE_GPIO_SPI) += spicmds.c
+src-$(CONFIG_HAVE_GPIO_HARD_PWM) += pwmcmds.c
diff --git a/src/avr/Kconfig b/src/avr/Kconfig
index efc8484a..8d5d4522 100644
--- a/src/avr/Kconfig
+++ b/src/avr/Kconfig
@@ -7,6 +7,7 @@ config AVR_SELECT
     default y
     select HAVE_GPIO_ADC
     select HAVE_GPIO_SPI
+    select HAVE_GPIO_HARD_PWM
 
 config BOARD_DIRECTORY
     string
diff --git a/src/gpiocmds.c b/src/gpiocmds.c
index 283d3d2e..70608a6f 100644
--- a/src/gpiocmds.c
+++ b/src/gpiocmds.c
@@ -4,12 +4,11 @@
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
-#include <stddef.h> // offsetof
 #include "basecmd.h" // alloc_oid
-#include "board/gpio.h" // struct gpio
+#include "board/gpio.h" // struct gpio_out
 #include "board/irq.h" // irq_save
 #include "command.h" // DECL_COMMAND
-#include "sched.h" // DECL_TASK
+#include "sched.h" // sched_timer
 
 
 /****************************************************************
@@ -86,73 +85,6 @@ command_set_digital_out(uint32_t *args)
 DECL_COMMAND(command_set_digital_out, "set_digital_out pin=%u value=%c");
 
 
-/****************************************************************
- * Hardware PWM pins
- ****************************************************************/
-
-struct pwm_out_s {
-    struct timer timer;
-    struct gpio_pwm pin;
-    uint32_t max_duration;
-    uint8_t value, default_value;
-};
-
-static uint8_t
-pwm_event(struct timer *timer)
-{
-    struct pwm_out_s *p = container_of(timer, struct pwm_out_s, timer);
-    gpio_pwm_write(p->pin, p->value);
-    if (p->value == p->default_value || !p->max_duration)
-        return SF_DONE;
-    p->timer.waketime += p->max_duration;
-    p->timer.func = digital_end_event;
-    return SF_RESCHEDULE;
-}
-
-void
-command_config_pwm_out(uint32_t *args)
-{
-    struct pwm_out_s *p = alloc_oid(args[0], command_config_pwm_out, sizeof(*p));
-    p->default_value = args[3];
-    p->pin = gpio_pwm_setup(args[1], args[2], p->default_value);
-    p->max_duration = args[4];
-}
-DECL_COMMAND(command_config_pwm_out,
-             "config_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%c"
-             " max_duration=%u");
-
-void
-command_schedule_pwm_out(uint32_t *args)
-{
-    struct pwm_out_s *p = lookup_oid(args[0], command_config_pwm_out);
-    sched_del_timer(&p->timer);
-    p->timer.func = pwm_event;
-    p->timer.waketime = args[1];
-    p->value = args[2];
-    sched_timer(&p->timer);
-}
-DECL_COMMAND(command_schedule_pwm_out,
-             "schedule_pwm_out oid=%c clock=%u value=%c");
-
-static void
-pwm_shutdown(void)
-{
-    uint8_t i;
-    struct pwm_out_s *p;
-    foreach_oid(i, p, command_config_pwm_out) {
-        gpio_pwm_write(p->pin, p->default_value);
-    }
-}
-DECL_SHUTDOWN(pwm_shutdown);
-
-void
-command_set_pwm_out(uint32_t *args)
-{
-    gpio_pwm_setup(args[0], args[1], args[2]);
-}
-DECL_COMMAND(command_set_pwm_out, "set_pwm_out pin=%u cycle_ticks=%u value=%c");
-
-
 /****************************************************************
  * Soft PWM output pins
  ****************************************************************/
diff --git a/src/pwmcmds.c b/src/pwmcmds.c
new file mode 100644
index 00000000..bc9fec03
--- /dev/null
+++ b/src/pwmcmds.c
@@ -0,0 +1,78 @@
+// Commands for controlling hardware based pulse-width-modulator pins
+//
+// Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include "basecmd.h" // alloc_oid
+#include "board/gpio.h" // struct gpio_pwm
+#include "command.h" // DECL_COMMAND
+#include "sched.h" // sched_timer
+
+struct pwm_out_s {
+    struct timer timer;
+    struct gpio_pwm pin;
+    uint32_t max_duration;
+    uint8_t value, default_value;
+};
+
+static uint8_t
+pwm_end_event(struct timer *timer)
+{
+    shutdown("Missed scheduling of next hard pwm event");
+}
+
+static uint8_t
+pwm_event(struct timer *timer)
+{
+    struct pwm_out_s *p = container_of(timer, struct pwm_out_s, timer);
+    gpio_pwm_write(p->pin, p->value);
+    if (p->value == p->default_value || !p->max_duration)
+        return SF_DONE;
+    p->timer.waketime += p->max_duration;
+    p->timer.func = pwm_end_event;
+    return SF_RESCHEDULE;
+}
+
+void
+command_config_pwm_out(uint32_t *args)
+{
+    struct pwm_out_s *p = alloc_oid(args[0], command_config_pwm_out, sizeof(*p));
+    p->default_value = args[3];
+    p->pin = gpio_pwm_setup(args[1], args[2], p->default_value);
+    p->max_duration = args[4];
+}
+DECL_COMMAND(command_config_pwm_out,
+             "config_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%c"
+             " max_duration=%u");
+
+void
+command_schedule_pwm_out(uint32_t *args)
+{
+    struct pwm_out_s *p = lookup_oid(args[0], command_config_pwm_out);
+    sched_del_timer(&p->timer);
+    p->timer.func = pwm_event;
+    p->timer.waketime = args[1];
+    p->value = args[2];
+    sched_timer(&p->timer);
+}
+DECL_COMMAND(command_schedule_pwm_out,
+             "schedule_pwm_out oid=%c clock=%u value=%c");
+
+static void
+pwm_shutdown(void)
+{
+    uint8_t i;
+    struct pwm_out_s *p;
+    foreach_oid(i, p, command_config_pwm_out) {
+        gpio_pwm_write(p->pin, p->default_value);
+    }
+}
+DECL_SHUTDOWN(pwm_shutdown);
+
+void
+command_set_pwm_out(uint32_t *args)
+{
+    gpio_pwm_setup(args[0], args[1], args[2]);
+}
+DECL_COMMAND(command_set_pwm_out, "set_pwm_out pin=%u cycle_ticks=%u value=%c");