diff --git a/drivers/Makefile.dep b/drivers/Makefile.dep
index cc728a0040..d5feed1f52 100644
--- a/drivers/Makefile.dep
+++ b/drivers/Makefile.dep
@@ -760,6 +760,11 @@ ifneq (,$(filter soft_spi,$(USEMODULE)))
   USEMODULE += xtimer
 endif
 
+ifneq (,$(filter soft_uart,$(USEMODULE)))
+  FEATURES_REQUIRED += periph_gpio_irq
+  FEATURES_REQUIRED += periph_timer_periodic
+endif
+
 ifneq (,$(filter sps30,$(USEMODULE)))
   FEATURES_REQUIRED += periph_i2c
   USEMODULE += checksum
diff --git a/drivers/Makefile.include b/drivers/Makefile.include
index f5094341ab..a2d20bd3dd 100644
--- a/drivers/Makefile.include
+++ b/drivers/Makefile.include
@@ -364,6 +364,10 @@ ifneq (,$(filter soft_spi,$(USEMODULE)))
   USEMODULE_INCLUDES += $(RIOTBASE)/drivers/soft_spi/include
 endif
 
+ifneq (,$(filter soft_uart,$(USEMODULE)))
+  USEMODULE_INCLUDES += $(RIOTBASE)/drivers/soft_uart/include
+endif
+
 ifneq (,$(filter sps30,$(USEMODULE)))
   USEMODULE_INCLUDES += $(RIOTBASE)/drivers/sps30/include
 endif
diff --git a/drivers/include/soft_uart.h b/drivers/include/soft_uart.h
new file mode 100644
index 0000000000..f2f30fc17d
--- /dev/null
+++ b/drivers/include/soft_uart.h
@@ -0,0 +1,130 @@
+/*
+ * Copyright (C) 2020 ML!PA Consulting GmbH
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @defgroup    drivers_soft_uart Software UART
+ * @ingroup     drivers_soft_periph
+ * @brief       Software implemented UART
+ *
+ * This module provides a software implemented Universal Asynchronous Receiver Transmitter.
+ * It is intended to be used in situation where hardware UART is not available.
+ * The signatures of the functions are similar to the functions declared in uart.h
+ *
+ * Currently sending and receiving is not possible at the same time, so loopback operation
+ * is not possible.
+ *
+ * @{
+ *
+ * @file
+ * @brief       Software UART port descriptor definition
+ *
+ * @author      Benjamin Valentin <benjjamin.valentin@ml-pa.com>
+ */
+
+#ifndef SOFT_UART_H
+#define SOFT_UART_H
+
+#include "periph/gpio.h"
+#include "periph/uart.h"
+#include "periph/timer.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Software UART port descriptor
+ */
+typedef struct {
+    gpio_t rx_pin;          /**< RX pin */
+    gpio_t tx_pin;          /**< TX pin */
+    tim_t rx_timer;         /**< Hardware timer used for RX */
+    tim_t tx_timer;         /**< Hardware timer used for TX */
+    uint32_t timer_freq;    /**< Operating frequency of the timer.
+                                 Should be a multiple of baudrate */
+} soft_uart_conf_t;
+
+/**
+ * @brief Software UART type definition
+ */
+typedef unsigned soft_uart_t;
+
+/**
+ * @brief   Initialize a given UART device
+ *
+ * The UART device will be initialized with the following configuration:
+ * - 8 data bits
+ * - no parity
+ * - 1 stop bit
+ * - baudrate as given
+ *
+ * If no callback parameter is given (rx_cb := NULL), the UART will be
+ * initialized in TX only mode.
+ *
+ * @param[in] uart          UART device to initialize
+ * @param[in] baudrate      desired symbol rate in baud
+ * @param[in] rx_cb         receive callback, executed in interrupt context once
+ *                          for every byte that is received (RX buffer filled),
+ *                          set to NULL for TX only mode
+ * @param[in] arg           optional context passed to the callback functions
+ *
+ * @return                  UART_OK on success
+ * @return                  UART_NODEV on invalid UART device
+ * @return                  UART_NOBAUD on inapplicable baudrate
+ * @return                  UART_INTERR on other errors
+ */
+int soft_uart_init(soft_uart_t uart, uint32_t baudrate, uart_rx_cb_t rx_cb, void *arg);
+
+/**
+ * @brief   Setup parity, data and stop bits for a given UART device
+ *
+ * @param[in] uart          UART device to configure
+ * @param[in] data_bits     number of data bits in a UART frame
+ * @param[in] parity        parity mode
+ * @param[in] stop_bits     number of stop bits in a UART frame
+ *
+ * @return                  UART_OK on success
+ * @return                  UART_NOMODE on other errors
+ */
+int soft_uart_mode(soft_uart_t uart, uart_data_bits_t data_bits, uart_parity_t parity,
+                   uart_stop_bits_t stop_bits);
+
+/**
+ * @brief   Write data from the given buffer to the specified UART device
+ *
+ * This function is blocking, as it will only return after @p len bytes from the
+ * given buffer have been send. The way this data is send is up to the
+ * implementation: active waiting, interrupt driven, DMA, etc.
+ *
+ * @param[in] uart          UART device to use for transmission
+ * @param[in] data          data buffer to send
+ * @param[in] len           number of bytes to send
+ *
+ */
+void soft_uart_write(soft_uart_t uart, const uint8_t *data, size_t len);
+
+/**
+ * @brief   Power on the given UART device
+ *
+ * @param[in] uart          the UART device to power on
+ */
+void soft_uart_poweron(soft_uart_t uart);
+
+/**
+ * @brief Power off the given UART device
+ *
+ * @param[in] uart          the UART device to power off
+ */
+void soft_uart_poweroff(soft_uart_t uart);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* SOFT_UART_H */
+/** @} */
diff --git a/drivers/soft_uart/Makefile b/drivers/soft_uart/Makefile
new file mode 100644
index 0000000000..48422e909a
--- /dev/null
+++ b/drivers/soft_uart/Makefile
@@ -0,0 +1 @@
+include $(RIOTBASE)/Makefile.base
diff --git a/drivers/soft_uart/include/soft_uart_params.h b/drivers/soft_uart/include/soft_uart_params.h
new file mode 100644
index 0000000000..3de62ccda3
--- /dev/null
+++ b/drivers/soft_uart/include/soft_uart_params.h
@@ -0,0 +1,67 @@
+/*
+ * Copyright (C) 2020 ML!PA Consulting GmbH
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     drivers_soft_uart
+ * @{
+ *
+ * @file
+ * @brief       Software UART configuration
+ *
+ * @author      Benjamin Valentin <benjjamin.valentin@ml-pa.com>
+ */
+
+#ifndef SOFT_UART_PARAMS_H
+#define SOFT_UART_PARAMS_H
+
+#include "soft_uart.h"
+#include "macros/units.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef SOFT_UART_PARAM_RX
+#define SOFT_UART_PARAM_RX          GPIO_UNDEF
+#endif
+#ifndef SOFT_UART_PARAM_TX
+#define SOFT_UART_PARAM_TX          GPIO_UNDEF
+#endif
+#ifndef SOFT_UART_PARAM_TIMER_RX
+#define SOFT_UART_PARAM_TIMER_RX    (0)
+#endif
+#ifndef SOFT_UART_PARAM_TIMER_TX
+#define SOFT_UART_PARAM_TIMER_TX    (1)
+#endif
+#ifndef SOFT_UART_PARAM_FREQ
+#define SOFT_UART_PARAM_FREQ        MHZ(1)
+#endif
+
+#ifndef SOFT_UART_PARAMS
+#define SOFT_UART_PARAMS     { .rx_pin = SOFT_UART_PARAM_RX,    \
+                               .tx_pin = SOFT_UART_PARAM_TX,    \
+                               .rx_timer = SOFT_UART_PARAM_TIMER_RX, \
+                               .tx_timer = SOFT_UART_PARAM_TIMER_TX, \
+                               .timer_freq = SOFT_UART_PARAM_FREQ }
+#endif
+
+/**
+ * @brief   Sotware UART port descriptor array
+ */
+static const soft_uart_conf_t soft_uart_config[] = {
+    SOFT_UART_PARAMS,
+};
+
+#define SOFT_UART_NUMOF             ARRAY_SIZE(soft_uart_config)
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* SOFT_UART_PARAMS_H */
+/** @} */
diff --git a/drivers/soft_uart/soft_uart.c b/drivers/soft_uart/soft_uart.c
new file mode 100644
index 0000000000..0140ec9c98
--- /dev/null
+++ b/drivers/soft_uart/soft_uart.c
@@ -0,0 +1,329 @@
+/*
+ * Copyright (C) 2020 ML!PA Consulting GmbH
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     drivers_soft_uart
+ * @{
+ *
+ * @file
+ * @brief       Software UART implementation
+ *
+ * @author      Benjamin Valentin <benjjamin.valentin@ml-pa.com>
+ */
+
+#include <stdio.h>
+#include <assert.h>
+
+#include "mutex.h"
+#include "soft_uart.h"
+#include "soft_uart_params.h"
+
+enum {
+    STATE_RX_IDLE,
+    STATE_RX_HIGH,
+    STATE_RX_LOW
+};
+
+enum {
+    PARITY_NONE,
+    PARITY_EVEN,
+    PARITY_ODD,
+    PARITY_MARK,
+    PARITY_SPACE,
+};
+
+struct uart_ctx {
+    mutex_t lock;       /**< UART mutex          */
+    mutex_t sync;       /**< TX byte done signal */
+    uart_rx_cb_t rx_cb; /**< RX callback         */
+    void* rx_cb_arg;    /**< RX callback arg     */
+    uint32_t bit_time;  /**< timer ticks per bit */
+    uint16_t byte_tx;   /**< current TX byte     */
+    uint16_t byte_rx;   /**< curretn RX byte     */
+    uint8_t bits_tx;    /**< TX bit pos          */
+    uint8_t state_rx;   /**< RX state            */
+#ifdef MODULE_SOFT_UART_MODECFG
+    uint8_t data_bits;  /**< number of data bits */
+    uint8_t stop_bits;  /**< number of stop bits */
+    uint8_t parity;     /**< parity mode         */
+#endif
+} soft_uart_ctx[SOFT_UART_NUMOF];
+
+#ifdef MODULE_SOFT_UART_MODECFG
+#define BITS_DATA(ctx)      (ctx)->data_bits
+#define BITS_STOP(ctx)      (ctx)->stop_bits
+#define BITS_PARITY(ctx)    ((ctx)->parity != PARITY_NONE)
+#else
+#define BITS_DATA(ctx)      8
+#define BITS_STOP(ctx)      1
+#define BITS_PARITY(ctx)    0
+#endif
+
+static void _tx_timer_cb(void *arg, int chan)
+{
+    soft_uart_t uart = (soft_uart_t)arg;
+
+    const soft_uart_conf_t *cfg = &soft_uart_config[uart];
+    struct uart_ctx *ctx = &soft_uart_ctx[uart];
+
+    gpio_write(cfg->tx_pin, ctx->byte_tx & 1);
+    ctx->byte_tx >>= 1;
+
+    if (--ctx->bits_tx == 0) {
+        timer_clear(cfg->tx_timer, chan);
+        mutex_unlock(&ctx->sync);
+    }
+}
+
+static void _rx_timer_cb(void *arg, int chan)
+{
+    soft_uart_t uart = (soft_uart_t)arg;
+
+    const soft_uart_conf_t *cfg = &soft_uart_config[uart];
+    struct uart_ctx *ctx = &soft_uart_ctx[uart];
+
+    (void)chan;
+
+    timer_stop(cfg->rx_timer);
+
+    /* ignore spurious interrupts */
+    if (ctx->state_rx == STATE_RX_IDLE) {
+        return;
+    }
+
+    ctx->state_rx = STATE_RX_IDLE;
+    ctx->rx_cb(ctx->rx_cb_arg, ctx->byte_rx);
+}
+
+static void _rx_gpio_cb(void *arg)
+{
+    soft_uart_t uart = (soft_uart_t)arg;
+
+    const soft_uart_conf_t *cfg = &soft_uart_config[uart];
+    struct uart_ctx *ctx = &soft_uart_ctx[uart];
+
+    /* TODO: use Timer Capture feature */
+    const uint32_t now = timer_read(cfg->rx_timer);
+
+    if (ctx->state_rx == STATE_RX_IDLE) {
+        timer_start(cfg->rx_timer);
+        ctx->state_rx = STATE_RX_LOW;
+        ctx->byte_rx = 0;
+        return;
+    }
+
+    /* we only get interrupts on flanks, so all bits
+     * till the next interrupt will have the same level. */
+    uint8_t bit = now / ctx->bit_time;
+    uint8_t mask = 0xff << bit;
+
+    if (ctx->state_rx == STATE_RX_HIGH) {
+        ctx->byte_rx &= ~mask;
+        ctx->state_rx = STATE_RX_LOW;
+    } else {
+        ctx->byte_rx |= mask;
+        ctx->state_rx = STATE_RX_HIGH;
+    }
+}
+
+int soft_uart_init(soft_uart_t uart, uint32_t baudrate, uart_rx_cb_t rx_cb, void *arg)
+{
+    if (uart >= SOFT_UART_NUMOF) {
+        return UART_NODEV;
+    }
+
+    const soft_uart_conf_t *cfg = &soft_uart_config[uart];
+    struct uart_ctx *ctx = &soft_uart_ctx[uart];
+
+    mutex_init(&ctx->lock);
+    static const mutex_t init_locked = MUTEX_INIT_LOCKED;
+    ctx->sync = init_locked;
+
+    ctx->bit_time = (cfg->timer_freq + baudrate / 2) / baudrate;
+
+    unsigned accuracy = (100 * cfg->timer_freq / ctx->bit_time) / baudrate;
+    if (accuracy > 110 || accuracy < 90) {
+        return UART_NOBAUD;
+    }
+
+    if (cfg->rx_pin == GPIO_UNDEF) {
+        rx_cb = NULL;
+    }
+
+#ifdef MODULE_SOFT_UART_MODECFG
+    ctx->data_bits = 8;
+    ctx->stop_bits = 1;
+    ctx->parity    = PARITY_NONE;
+#endif
+
+    ctx->rx_cb = rx_cb;
+    ctx->rx_cb_arg = arg;
+
+    ctx->state_rx = STATE_RX_IDLE;
+
+    if (cfg->tx_pin != GPIO_UNDEF) {
+        timer_init(cfg->tx_timer, cfg->timer_freq, _tx_timer_cb, (void *)uart);
+        gpio_write(cfg->tx_pin, !(cfg->flags & SOFT_UART_FLAG_INVERT_TX));
+        gpio_init(cfg->tx_pin, GPIO_OUT);
+    }
+
+    if (rx_cb) {
+        timer_init(cfg->rx_timer, cfg->timer_freq, _rx_timer_cb, (void *)uart);
+        timer_stop(cfg->rx_timer);
+        /* timer should fire at the end of the byte */
+        timer_set_periodic(cfg->rx_timer, 0, ctx->bit_time * (BITS_DATA(ctx) + BITS_PARITY(ctx) + 1),
+                           TIM_FLAG_RESET_ON_MATCH | TIM_FLAG_RESET_ON_SET);
+        gpio_init_int(cfg->rx_pin, GPIO_IN, GPIO_BOTH, _rx_gpio_cb, (void*) uart);
+    }
+
+    return 0;
+}
+
+#ifdef MODULE_SOFT_UART_MODECFG
+int soft_uart_mode(soft_uart_t uart, uart_data_bits_t data_bits, uart_parity_t parity,
+                   uart_stop_bits_t stop_bits)
+{
+    if (uart >= SOFT_UART_NUMOF) {
+        return UART_NODEV;
+    }
+
+    struct uart_ctx *ctx = &soft_uart_ctx[uart];
+
+    switch (data_bits) {
+    case UART_DATA_BITS_5:
+        ctx->data_bits = 5;
+        break;
+    case UART_DATA_BITS_6:
+        ctx->data_bits = 6;
+        break;
+    case UART_DATA_BITS_7:
+        ctx->data_bits = 7;
+        break;
+    default:
+    case UART_DATA_BITS_8:
+        ctx->data_bits = 8;
+        break;
+    }
+
+    switch (parity) {
+    case UART_PARITY_EVEN:
+        ctx->parity = PARITY_EVEN;
+        break;
+    case UART_PARITY_ODD:
+        ctx->parity = PARITY_ODD;
+        break;
+    case UART_PARITY_MARK:
+        ctx->parity = PARITY_MARK;
+        break;
+    case UART_PARITY_SPACE:
+        ctx->parity = PARITY_SPACE;
+        break;
+    default:
+    case UART_PARITY_NONE:
+        ctx->parity = PARITY_NONE;
+        break;
+    }
+
+    switch (stop_bits) {
+    case UART_STOP_BITS_2:
+        ctx->stop_bits = 2;
+        break;
+    default:
+    case UART_STOP_BITS_1:
+        ctx->stop_bits = 1;
+        break;
+    }
+
+    return 0;
+}
+#endif /* MODULE_SOFT_UART_MODECF */
+
+static void soft_uart_write_byte(soft_uart_t uart, uint8_t data)
+{
+    const soft_uart_conf_t *cfg = &soft_uart_config[uart];
+    struct uart_ctx *ctx = &soft_uart_ctx[uart];
+
+    /* start bit (LOW) + data bits */
+    ctx->bits_tx = 1 + BITS_DATA(ctx);
+    ctx->byte_tx = data << 1;
+
+#ifdef MODULE_SOFT_UART_MODECFG
+    if (ctx->parity != PARITY_NONE) {
+        uint8_t parity = 0;
+
+        switch (ctx->parity) {
+        case PARITY_EVEN:
+            parity = __builtin_parity(data);
+            break;
+        case PARITY_ODD:
+            parity = !__builtin_parity(data);
+            break;
+        case PARITY_MARK:
+            parity = 1;
+            break;
+        case PARITY_SPACE:
+            parity = 0;
+            break;
+        }
+
+        ctx->byte_tx |= parity << ctx->bits_tx++;
+    }
+#endif
+
+    for (int i = 0; i < BITS_STOP(ctx); ++i) {
+        ctx->byte_tx |= 1 << ctx->bits_tx++;
+    }
+
+    if (cfg->flags & SOFT_UART_FLAG_INVERT_TX) {
+        ctx->byte_tx = ~ctx->byte_tx;
+    }
+
+    timer_set_periodic(cfg->tx_timer, 0, ctx->bit_time,
+                       TIM_FLAG_RESET_ON_MATCH | TIM_FLAG_RESET_ON_SET);
+    mutex_lock(&ctx->sync);
+}
+
+void soft_uart_write(uart_t uart, const uint8_t *data, size_t len)
+{
+    const soft_uart_conf_t *cfg = &soft_uart_config[uart];
+    struct uart_ctx *ctx = &soft_uart_ctx[uart];
+
+    const uint8_t *end = data + len;
+
+    mutex_lock(&ctx->lock);
+    timer_start(cfg->tx_timer);
+
+    while (data != end) {
+        soft_uart_write_byte(uart, *data++);
+    }
+
+    timer_stop(cfg->tx_timer);
+    mutex_unlock(&soft_uart_ctx[uart].lock);
+}
+
+void soft_uart_poweron(soft_uart_t uart)
+{
+    const soft_uart_conf_t *cfg = &soft_uart_config[uart];
+    struct uart_ctx *ctx = &soft_uart_ctx[uart];
+
+    if (ctx->rx_cb) {
+        gpio_irq_enable(cfg->rx_pin);
+    }
+}
+
+void soft_uart_poweroff(soft_uart_t uart)
+{
+    const soft_uart_conf_t *cfg = &soft_uart_config[uart];
+    struct uart_ctx *ctx = &soft_uart_ctx[uart];
+
+    if (ctx->rx_cb) {
+        gpio_irq_disable(cfg->rx_pin);
+    }
+
+    /* timers are already stopped after RX/TX */
+}
diff --git a/makefiles/pseudomodules.inc.mk b/makefiles/pseudomodules.inc.mk
index be3ef61738..4cf00c3ab4 100644
--- a/makefiles/pseudomodules.inc.mk
+++ b/makefiles/pseudomodules.inc.mk
@@ -105,6 +105,7 @@ PSEUDOMODULES += sock_dtls
 PSEUDOMODULES += sock_ip
 PSEUDOMODULES += sock_tcp
 PSEUDOMODULES += sock_udp
+PSEUDOMODULES += soft_uart_modecfg
 PSEUDOMODULES += stdin
 PSEUDOMODULES += stdio_ethos
 PSEUDOMODULES += stdio_cdc_acm