diff --git a/boards/common/esp32/include/periph_conf_common.h b/boards/common/esp32/include/periph_conf_common.h
index 2df5690e6a..dae2b82661 100644
--- a/boards/common/esp32/include/periph_conf_common.h
+++ b/boards/common/esp32/include/periph_conf_common.h
@@ -136,6 +136,19 @@ static const i2c_conf_t i2c_config[] = {
  * @{
  */
 
+/**
+ * @brief   Static array of GPIOs that can be used as channels of PWM0
+ */
+#ifdef PWM0_GPIOS
+static const gpio_t pwm0_channels[] = PWM0_GPIOS;
+#endif
+/**
+ * @brief   Static array of GPIOs that can be used as channels of PWM0
+ */
+#ifdef PWM1_GPIOS
+static const gpio_t pwm1_channels[] = PWM1_GPIOS;
+#endif
+
 /**
  * @brief   Number of PWM devices
  *
@@ -144,7 +157,13 @@ static const i2c_conf_t i2c_config[] = {
  *
  * @note PWM_NUMOF definition must not be changed.
  */
-#define PWM_NUMOF   (pwm_dev_num)
+#if defined(PWM0_GPIOS) && defined(PWM1_GPIOS)
+#define PWM_NUMOF  (2)
+#elif defined(PWM0_GPIOS) || defined(PWM1_GPIOS)
+#define PWM_NUMOF  (1)
+#else
+#define PWM_NUMOF  (0)
+#endif
 
 /** @} */
 
diff --git a/boards/esp32-wrover-kit/include/periph_conf.h b/boards/esp32-wrover-kit/include/periph_conf.h
index 00d41e78f1..5b637d9581 100644
--- a/boards/esp32-wrover-kit/include/periph_conf.h
+++ b/boards/esp32-wrover-kit/include/periph_conf.h
@@ -122,7 +122,7 @@
  */
 #ifndef PWM0_GPIOS
 #if !MODULE_ESP32_WROVER_KIT_CAMERA || DOXYGEN
-#define PWM0_GPIOS  { LED0_PIN, LED2_PIN } /**< only available when camera is not connected */
+#define PWM0_GPIOS  { GPIO0, GPIO4 } /**< only available when camera is not connected */
 #else
 #define PWM0_GPIOS  { }
 #endif
diff --git a/cpu/esp32/include/periph_cpu.h b/cpu/esp32/include/periph_cpu.h
index 2f2f8b2ff9..2913335073 100644
--- a/cpu/esp32/include/periph_cpu.h
+++ b/cpu/esp32/include/periph_cpu.h
@@ -357,14 +357,16 @@ typedef struct {
  * other purposes.
  */
 
+/**
+ * @brief   Maximum number of PWM devices
+ */
+#define PWM_NUMOF_MAX           (2)
+
 /**
  * @brief   Maximum number of channels per PWM device.
  */
 #define PWM_CHANNEL_NUM_DEV_MAX (6)
 
-/** Number of PWM devices determined from PWM0_GPIOS and PWM1_GPIOS. */
-extern const unsigned pwm_dev_num;
-
 /** @} */
 
 /**
diff --git a/cpu/esp32/periph/pwm.c b/cpu/esp32/periph/pwm.c
index 3dd6117c44..19053d9a3f 100644
--- a/cpu/esp32/periph/pwm.c
+++ b/cpu/esp32/periph/pwm.c
@@ -40,7 +40,6 @@
 
 #if defined(PWM0_GPIOS) || defined(PWM1_GPIOS)
 
-#define PWM_NUMOF_MAX (2)           /* maximum number of PWM devices */
 #define PWM_CLK       (160000000UL) /* base clock of PWM devices */
 #define PWM_CPS_MAX   (10000000UL)  /* maximum cycles per second supported */
 #define PWM_CPS_MIN   (2500UL)      /* minumum cycles per second supported */
@@ -101,8 +100,8 @@ static const struct _pwm_hw_t _pwm_hw[] =
         .mod = PERIPH_PWM0_MODULE,
         .int_src = ETS_PWM0_INTR_SOURCE,
         .signal_group = PWM0_OUT0A_IDX,
-        .gpio_num = sizeof(_pwm_channel_gpios_0) >> 2,
-        .gpios = _pwm_channel_gpios_0,
+        .gpio_num = sizeof(pwm0_channels) / sizeof(pwm0_channels[0]),
+        .gpios = pwm0_channels,
     },
     #endif
     #ifdef PWM1_GPIOS
@@ -111,15 +110,12 @@ static const struct _pwm_hw_t _pwm_hw[] =
         .mod = PERIPH_PWM1_MODULE,
         .int_src = ETS_PWM1_INTR_SOURCE,
         .signal_group = PWM1_OUT0A_IDX,
-        .gpio_num = sizeof(_pwm_channel_gpios_1) >> 2,
-        .gpios = _pwm_channel_gpios_1,
+        .gpio_num = sizeof(pwm1_channels) / sizeof(pwm1_channels[0]),
+        .gpios = pwm1_channels,
     },
     #endif
 };
 
-/* the number of PWM devices used */
-const unsigned pwm_dev_num = sizeof(_pwm_hw) / sizeof(_pwm_hw[0]);
-
 /* data structure dynamic channel configuration */
 typedef struct {
     bool used;
@@ -146,7 +142,7 @@ uint32_t pwm_init(pwm_t pwm, pwm_mode_t mode, uint32_t freq, uint16_t res)
 {
     DEBUG ("%s pwm=%u mode=%u freq=%u, res=%u\n", __func__, pwm, mode, freq, res);
 
-    CHECK_PARAM_RET (pwm < pwm_dev_num, 0);
+    CHECK_PARAM_RET (pwm < PWM_NUMOF, 0);
     CHECK_PARAM_RET (freq > 0, 0);
 
     if (_pwm_init_first_time) {
@@ -203,7 +199,7 @@ uint32_t pwm_init(pwm_t pwm, pwm_mode_t mode, uint32_t freq, uint16_t res)
 
 uint8_t pwm_channels(pwm_t pwm)
 {
-    CHECK_PARAM_RET (pwm < pwm_dev_num, 0);
+    CHECK_PARAM_RET (pwm < PWM_NUMOF, 0);
 
     return _pwm_hw[pwm].gpio_num;
 }
@@ -212,7 +208,7 @@ void pwm_set(pwm_t pwm, uint8_t channel, uint16_t value)
 {
     DEBUG("%s pwm=%u channel=%u value=%u\n", __func__, pwm, channel, value);
 
-    CHECK_PARAM (pwm < pwm_dev_num);
+    CHECK_PARAM (pwm < PWM_NUMOF);
     CHECK_PARAM (channel < _pwm_dev[pwm].chn_num);
     CHECK_PARAM (value <= _pwm_dev[pwm].res);
 
@@ -287,14 +283,14 @@ void pwm_set(pwm_t pwm, uint8_t channel, uint16_t value)
 
 void pwm_poweron(pwm_t pwm)
 {
-    CHECK_PARAM (pwm < pwm_dev_num);
+    CHECK_PARAM (pwm < PWM_NUMOF);
     periph_module_enable(_pwm_hw[pwm].mod);
     _pwm_start(pwm);
 }
 
 void pwm_poweroff(pwm_t pwm)
 {
-    CHECK_PARAM (pwm < pwm_dev_num);
+    CHECK_PARAM (pwm < PWM_NUMOF);
     _pwm_stop (pwm);
     periph_module_disable(_pwm_hw[pwm].mod);
 }
@@ -385,7 +381,7 @@ static void _pwm_start(pwm_t pwm)
     }
 
     /* sync all timers */
-    for (unsigned i = 0; i < pwm_dev_num; i++) {
+    for (unsigned i = 0; i < PWM_NUMOF; i++) {
         _pwm_hw[i].regs->timer[0].sync.sync_sw = ~_pwm_hw[i].regs->timer[0].sync.sync_sw;
     }
 }
@@ -399,13 +395,13 @@ static void _pwm_stop(pwm_t pwm)
 /* do some static initialization and configuration checks */
 static bool _pwm_configuration(void)
 {
-    if (pwm_dev_num > PWM_NUMOF_MAX) {
+    if (PWM_NUMOF > PWM_NUMOF_MAX) {
         LOG_TAG_ERROR("pwm", "%d PWM devices were defined, only %d PWM are "
-                      "supported\n", pwm_dev_num, PWM_NUMOF_MAX);
+                      "supported\n", PWM_NUMOF, PWM_NUMOF_MAX);
         return false;
     }
 
-    for (unsigned i = 0; i < pwm_dev_num; i++) {
+    for (unsigned i = 0; i < PWM_NUMOF; i++) {
         if (_pwm_hw[i].gpio_num > PWM_CHANNEL_NUM_DEV_MAX) {
             LOG_TAG_ERROR("pwm", "Number of PWM channels of device %d is %d, "
                           "at maximum only %d channels per PWM device are "
@@ -415,8 +411,8 @@ static bool _pwm_configuration(void)
         }
     }
     bool multiple_used = false;
-    for (unsigned i = 0; i < pwm_dev_num; i++) {
-        for (unsigned j = 0; j < pwm_dev_num; j++) {
+    for (unsigned i = 0; i < PWM_NUMOF; i++) {
+        for (unsigned j = 0; j < PWM_NUMOF; j++) {
             if (i != j) {
                 for (unsigned k = 0; k < _pwm_hw[i].gpio_num >> 2; k++) {
                     for (unsigned l = 0; l < _pwm_hw[j].gpio_num >> 2; l++) {
@@ -440,7 +436,7 @@ static bool _pwm_configuration(void)
 
 void pwm_print_config(void)
 {
-    for (unsigned pwm = 0; pwm < pwm_dev_num; pwm++) {
+    for (unsigned pwm = 0; pwm < PWM_NUMOF; pwm++) {
         ets_printf("\tPWM_DEV(%d)\tchannels=[ ", pwm);
         for (int i = 0; i < _pwm_hw[pwm].gpio_num; i++) {
             ets_printf("%d ", _pwm_hw[pwm].gpios[i]);