diff --git a/arch/arm/src/tiva/common/tiva_pwm.c b/arch/arm/src/tiva/common/tiva_pwm.c
index cad0e05ce9ce3..293e2753ce6b1 100644
--- a/arch/arm/src/tiva/common/tiva_pwm.c
+++ b/arch/arm/src/tiva/common/tiva_pwm.c
@@ -82,6 +82,7 @@ struct tiva_pwm_chan_s
   uint8_t generator_id;
   uintptr_t generator_base;
   uint8_t channel_id;
+  bool complementary_generation;
 #ifdef CONFIG_PWM_PULSECOUNT
   bool inited;
   uint8_t irq;
@@ -168,6 +169,7 @@ static struct tiva_pwm_chan_s g_pwm_chan0 =
   .generator_base  = TIVA_PWM0_BASE + TIVA_PWMN_BASE +
                      TIVA_PWMN_INTERVAL * 0,
   .channel_id      = 0,
+  .complementary_generation = false;
 #ifdef CONFIG_PWM_PULSECOUNT
   .inited          = false,
   .irq             = TIVA_IRQ_PWM0_GEN0,
@@ -188,6 +190,7 @@ static struct tiva_pwm_chan_s g_pwm_chan1 =
   .generator_base  = TIVA_PWM0_BASE + TIVA_PWMN_BASE +
                      TIVA_PWMN_INTERVAL * 0,
   .channel_id      = 1,
+  .complementary_generation = false;
 #ifdef CONFIG_PWM_PULSECOUNT
   .inited          = false,
   .irq             = TIVA_IRQ_PWM0_GEN0,
@@ -208,6 +211,7 @@ static struct tiva_pwm_chan_s g_pwm_chan2 =
   .generator_base  = TIVA_PWM0_BASE + TIVA_PWMN_BASE +
                      TIVA_PWMN_INTERVAL * 1,
   .channel_id      = 2,
+  .complementary_generation = false;
 #ifdef CONFIG_PWM_PULSECOUNT
   .inited          = false,
   .irq             = TIVA_IRQ_PWM0_GEN1,
@@ -228,6 +232,7 @@ static struct tiva_pwm_chan_s g_pwm_chan3 =
   .generator_base  = TIVA_PWM0_BASE + TIVA_PWMN_BASE +
                      TIVA_PWMN_INTERVAL * 1,
   .channel_id      = 3,
+  .complementary_generation = false;
 #ifdef CONFIG_PWM_PULSECOUNT
   .inited          = false,
   .irq             = TIVA_IRQ_PWM0_GEN1,
@@ -248,6 +253,7 @@ static struct tiva_pwm_chan_s g_pwm_chan4 =
   .generator_base  = TIVA_PWM0_BASE + TIVA_PWMN_BASE +
                      TIVA_PWMN_INTERVAL * 2,
   .channel_id      = 4,
+  .complementary_generation = false;
 #ifdef CONFIG_PWM_PULSECOUNT
   .inited          = false,
   .irq             = TIVA_IRQ_PWM0_GEN2,
@@ -268,6 +274,7 @@ static struct tiva_pwm_chan_s g_pwm_chan5 =
   .generator_base  = TIVA_PWM0_BASE + TIVA_PWMN_BASE +
                      TIVA_PWMN_INTERVAL * 2,
   .channel_id      = 5,
+  .complementary_generation = false;
 #ifdef CONFIG_PWM_PULSECOUNT
   .inited          = false,
   .irq             = TIVA_IRQ_PWM0_GEN2,
@@ -288,6 +295,7 @@ static struct tiva_pwm_chan_s g_pwm_chan6 =
   .generator_base  = TIVA_PWM0_BASE + TIVA_PWMN_BASE +
                      TIVA_PWMN_INTERVAL * 3,
   .channel_id      = 6,
+  .complementary_generation = false;
 #ifdef CONFIG_PWM_PULSECOUNT
   .inited          = false,
   .irq             = TIVA_IRQ_PWM0_GEN3,
@@ -308,6 +316,7 @@ static struct tiva_pwm_chan_s g_pwm_chan7 =
   .generator_base  = TIVA_PWM0_BASE + TIVA_PWMN_BASE +
                      TIVA_PWMN_INTERVAL * 3,
   .channel_id      = 7,
+  .complementary_generation = false;
 #ifdef CONFIG_PWM_PULSECOUNT
   .inited          = false,
   .irq             = TIVA_IRQ_PWM0_GEN3,
@@ -604,17 +613,31 @@ static inline int tiva_pwm_timer(struct tiva_pwm_chan_s *chan,
   /* Configure PWM countdown mode (refer to TM4C1294NCPDT 23.4.6) */
 
   tiva_pwm_putreg(chan, TIVA_PWMN_CTL_OFFSET, 0);
-  if (chan->channel_id % 2 == 0)
+  if (chan->complementary_generation)
     {
+      pwminfo("PWM Complementar ativado para Gerador %d\n", chan->generator_id);
+
       tiva_pwm_putreg(chan, TIVA_PWMN_GENA_OFFSET,
                       GENX_LOW << TIVA_PWMN_GENX_ACTCMPAD |
                       GENX_HIGH << TIVA_PWMN_GENX_ACTLOAD);
+      tiva_pwm_putreg(chan, TIVA_PWMN_GENB_OFFSET,
+                      GENX_HIGH << TIVA_PWMN_GENX_ACTCMPBD |
+                      GENX_LOW << TIVA_PWMN_GENX_ACTLOAD);
     }
   else
     {
-      tiva_pwm_putreg(chan, TIVA_PWMN_GENB_OFFSET,
-                      GENX_LOW << TIVA_PWMN_GENX_ACTCMPBD |
-                      GENX_HIGH << TIVA_PWMN_GENX_ACTLOAD);
+      if (chan->channel_id % 2 == 0)
+        {
+          tiva_pwm_putreg(chan, TIVA_PWMN_GENA_OFFSET,
+                          GENX_LOW << TIVA_PWMN_GENX_ACTCMPAD |
+                          GENX_HIGH << TIVA_PWMN_GENX_ACTLOAD);
+        }
+      else
+        {
+          tiva_pwm_putreg(chan, TIVA_PWMN_GENB_OFFSET,
+                          GENX_LOW << TIVA_PWMN_GENX_ACTCMPBD |
+                          GENX_HIGH << TIVA_PWMN_GENX_ACTLOAD);
+        }
     }
 
   /* Set the PWM period (refer to TM4C1294NCPDT 23.4.7) */
@@ -645,13 +668,21 @@ static inline int tiva_pwm_timer(struct tiva_pwm_chan_s *chan,
   comp = (duty == 0) ? (comp - 1) : (comp);
   pwminfo("> comp = %u (%08x)\n", comp, comp);
 
-  if (chan->channel_id % 2 == 0)
+  if (chan->complementary_generation)
     {
       tiva_pwm_putreg(chan, TIVA_PWMN_CMPA_OFFSET, comp - 1);
+      tiva_pwm_putreg(chan, TIVA_PWMN_CMPB_OFFSET, comp - 1);
     }
   else
     {
-      tiva_pwm_putreg(chan, TIVA_PWMN_CMPB_OFFSET, comp - 1);
+      if (chan->channel_id % 2 == 0)
+        {
+          tiva_pwm_putreg(chan, TIVA_PWMN_CMPA_OFFSET, comp - 1);
+        }
+      else
+        {
+          tiva_pwm_putreg(chan, TIVA_PWMN_CMPB_OFFSET, comp - 1);
+        }
     }
 
   /* Enable the PWM generator (refer to TM4C1294NCPDT 23.4.10) */
@@ -878,5 +909,25 @@ struct pwm_lowerhalf_s *tiva_pwm_initialize(int channel)
 
 #endif
 
+#ifdef CONFIG_TIVA_PWM_COMPLEMENTARY_G0
+  if (chan->generator_id == 0)
+    chan->complementary_generation = true;
+#endif
+
+#ifdef CONFIG_TIVA_PWM_COMPLEMENTARY_G1
+  if (chan->generator_id == 1)
+    chan->complementary_generation = true;
+#endif
+
+#ifdef CONFIG_TIVA_PWM_COMPLEMENTARY_G2
+  if (chan->generator_id == 2)
+    chan->complementary_generation = true;
+#endif
+
+#ifdef CONFIG_TIVA_PWM_COMPLEMENTARY_G3
+  if (chan->generator_id == 3)
+    chan->complementary_generation = true;
+#endif
+
   return (struct pwm_lowerhalf_s *)chan;
 }