diff --git a/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java b/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java
index ed8e86fdf8..689a95e7f8 100644
--- a/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java
@@ -39,5 +39,7 @@ public class DIOJNI extends JNIWrapper {
 
   public static native void setDigitalPWMDutyCycle(int pwmGenerator, double dutyCycle);
 
+  public static native void setDigitalPWMPPS(int pwmGenerator, double dutyCycle);
+
   public static native void setDigitalPWMOutputChannel(int pwmGenerator, int channel);
 }
diff --git a/hal/src/main/native/athena/DIO.cpp b/hal/src/main/native/athena/DIO.cpp
index 01437043aa..e6308fbb75 100644
--- a/hal/src/main/native/athena/DIO.cpp
+++ b/hal/src/main/native/athena/DIO.cpp
@@ -240,6 +240,30 @@ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
   }
 }
 
+void HAL_SetDigitalPWMPPS(HAL_DigitalPWMHandle pwmGenerator, double dutyCycle,
+                          int32_t* status) {
+  auto port = digitalPWMHandles->Get(pwmGenerator);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+  int32_t id = *port;
+  digitalSystem->writePWMPeriodPower(0xffff, status);
+  double rawDutyCycle = 31.0 * dutyCycle;
+  if (rawDutyCycle > 30.5) {
+    rawDutyCycle = 30.5;
+  }
+  {
+    std::scoped_lock lock(digitalPwmMutex);
+    if (id < 4)
+      digitalSystem->writePWMDutyCycleA(id, static_cast<uint8_t>(rawDutyCycle),
+                                        status);
+    else
+      digitalSystem->writePWMDutyCycleB(
+          id - 4, static_cast<uint8_t>(rawDutyCycle), status);
+  }
+}
+
 void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
                                     int32_t channel, int32_t* status) {
   auto port = digitalPWMHandles->Get(pwmGenerator);
diff --git a/hal/src/main/native/cpp/jni/DIOJNI.cpp b/hal/src/main/native/cpp/jni/DIOJNI.cpp
index 264a347ac6..dee34c7f46 100644
--- a/hal/src/main/native/cpp/jni/DIOJNI.cpp
+++ b/hal/src/main/native/cpp/jni/DIOJNI.cpp
@@ -260,6 +260,20 @@ Java_edu_wpi_first_hal_DIOJNI_setDigitalPWMDutyCycle
   CheckStatus(env, status);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_DIOJNI
+ * Method:    setDigitalPWMPPS
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DIOJNI_setDigitalPWMPPS
+  (JNIEnv* env, jclass, jint id, jdouble value)
+{
+  int32_t status = 0;
+  HAL_SetDigitalPWMPPS((HAL_DigitalPWMHandle)id, value, &status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_DIOJNI
  * Method:    setDigitalPWMOutputChannel
diff --git a/hal/src/main/native/include/hal/DIO.h b/hal/src/main/native/include/hal/DIO.h
index e6a703b16c..ab53321177 100644
--- a/hal/src/main/native/include/hal/DIO.h
+++ b/hal/src/main/native/include/hal/DIO.h
@@ -94,6 +94,16 @@ void HAL_SetDigitalPWMRate(double rate, int32_t* status);
 void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
                                 double dutyCycle, int32_t* status);
 
+/**
+ * Configures the digital PWM to be a PPS signal with specified duty cycle.
+ *
+ * @param[in] pwmGenerator the digital PWM handle
+ * @param[in] dutyCycle    the percent duty cycle to output [0..1]
+ * @param[out] status      Error status variable. 0 on success.
+ */
+void HAL_SetDigitalPWMPPS(HAL_DigitalPWMHandle pwmGenerator, double dutyCycle,
+                          int32_t* status);
+
 /**
  * Configures which DO channel the PWM signal is output on.
  *
diff --git a/hal/src/main/native/sim/DIO.cpp b/hal/src/main/native/sim/DIO.cpp
index 53c700cb2d..b611b35e8a 100644
--- a/hal/src/main/native/sim/DIO.cpp
+++ b/hal/src/main/native/sim/DIO.cpp
@@ -151,6 +151,23 @@ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
   SimDigitalPWMData[id].dutyCycle = dutyCycle;
 }
 
+void HAL_SetDigitalPWMPPS(HAL_DigitalPWMHandle pwmGenerator, double dutyCycle,
+                          int32_t* status) {
+  auto port = digitalPWMHandles->Get(pwmGenerator);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+  int32_t id = *port;
+  if (dutyCycle > 1.0) {
+    dutyCycle = 1.0;
+  }
+  if (dutyCycle < 0.0) {
+    dutyCycle = 0.0;
+  }
+  SimDigitalPWMData[id].dutyCycle = dutyCycle;
+}
+
 void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
                                     int32_t channel, int32_t* status) {
   auto port = digitalPWMHandles->Get(pwmGenerator);
diff --git a/wpilibc/src/main/native/include/frc/DigitalOutput.h b/wpilibc/src/main/native/include/frc/DigitalOutput.h
index 073f1568b6..d2981face0 100644
--- a/wpilibc/src/main/native/include/frc/DigitalOutput.h
+++ b/wpilibc/src/main/native/include/frc/DigitalOutput.h
@@ -105,6 +105,19 @@ class DigitalOutput : public DigitalSource,
    */
   void SetPWMRate(double rate);
 
+  /**
+   * Enable a PWM PPS (Pulse Per Second) Output on this line.
+   *
+   * Allocate one of the 6 DO PWM generator resources from this module.
+   *
+   * Supply the duty-cycle to output.
+   *
+   * The resolution of the duty cycle is 8-bit.
+   *
+   * @param dutyCycle The duty-cycle to start generating. [0..1]
+   */
+  void EnablePPS(double dutyCycle);
+
   /**
    * Enable a PWM Output on this line.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
index 1859d9318b..43af5c7b69 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
@@ -113,6 +113,26 @@ public class DigitalOutput extends DigitalSource implements Sendable {
     DIOJNI.setDigitalPWMRate(rate);
   }
 
+  /**
+   * Enable a PWM PPS (Pulse Per Second) Output on this line.
+   *
+   * <p>Allocate one of the 6 DO PWM generator resources.
+   *
+   * <p>Supply the duty-cycle to output.
+   *
+   * <p>The resolution of the duty cycle is 8-bit.
+   *
+   * @param dutyCycle The duty-cycle to start generating. [0..1]
+   */
+  public void enablePPS(double dutyCycle) {
+    if (m_pwmGenerator != invalidPwmGenerator) {
+      return;
+    }
+    m_pwmGenerator = DIOJNI.allocateDigitalPWM();
+    DIOJNI.setDigitalPWMPPS(m_pwmGenerator, dutyCycle);
+    DIOJNI.setDigitalPWMOutputChannel(m_pwmGenerator, m_channel);
+  }
+
   /**
    * Enable a PWM Output on this line.
    *