diff --git a/src/stm32/Kconfig b/src/stm32/Kconfig
index c8466df38..9c7db5b5e 100644
--- a/src/stm32/Kconfig
+++ b/src/stm32/Kconfig
@@ -10,7 +10,7 @@ config STM32_SELECT
     select HAVE_GPIO_I2C if !MACH_STM32F031
     select HAVE_GPIO_SPI if !MACH_STM32F031
     select HAVE_GPIO_SDIO if MACH_STM32F4
-    select HAVE_GPIO_HARD_PWM if MACH_STM32F042 || MACH_STM32F070 || MACH_STM32F072 || MACH_STM32F1 || MACH_STM32F4 || MACH_STM32F7 || MACH_STM32G0 || MACH_STM32H7
+    select HAVE_GPIO_HARD_PWM if MACH_STM32F042 || MACH_STM32F070 || MACH_STM32F072 || MACH_STM32F1 || MACH_STM32F4 || MACH_STM32F7 || MACH_STM32G0 || MACH_STM32G4 || MACH_STM32H7
     select HAVE_STRICT_TIMING
     select HAVE_CHIPID
     select HAVE_STEPPER_OPTIMIZED_BOTH_EDGE if !MACH_STM32H7
diff --git a/src/stm32/hard_pwm.c b/src/stm32/hard_pwm.c
index 08defce22..201c214cc 100644
--- a/src/stm32/hard_pwm.c
+++ b/src/stm32/hard_pwm.c
@@ -232,6 +232,19 @@ static const struct gpio_pwm_info pwm_regs[] = {
     {TIM14, GPIO('F',  0), 1, GPIO_FUNCTION(2)},
     {TIM15, GPIO('F', 12), 1, GPIO_FUNCTION(0)},
     {TIM15, GPIO('F', 13), 2, GPIO_FUNCTION(0)},
+#elif CONFIG_MACH_STM32G4
+    {TIM3,  GPIO('B',  0), 3, GPIO_FUNCTION(2)},
+    {TIM3,  GPIO('B',  1), 4, GPIO_FUNCTION(2)},
+    {TIM3,  GPIO('B',  4), 1, GPIO_FUNCTION(2)},
+    {TIM3,  GPIO('B',  5), 2, GPIO_FUNCTION(2)},
+    {TIM4,  GPIO('B',  6), 1, GPIO_FUNCTION(2)},
+    {TIM4,  GPIO('B',  7), 2, GPIO_FUNCTION(2)},
+    {TIM4,  GPIO('B',  8), 3, GPIO_FUNCTION(2)},
+    {TIM4,  GPIO('B',  9), 4, GPIO_FUNCTION(2)},
+    {TIM2,  GPIO('B', 10), 3, GPIO_FUNCTION(1)},
+    {TIM2,  GPIO('B', 11), 4, GPIO_FUNCTION(1)},
+    {TIM15,  GPIO('B', 14), 1, GPIO_FUNCTION(1)},
+    {TIM15,  GPIO('B', 15), 2, GPIO_FUNCTION(1)},
 #elif CONFIG_MACH_STM32H7
     {TIM1, GPIO('A', 8),  1, GPIO_FUNCTION(1)},
     {TIM1, GPIO('E', 9),  1, GPIO_FUNCTION(1)},