diff --git a/Documentation/components/drivers/character/timers/pwm.rst b/Documentation/components/drivers/character/timers/pwm.rst
index 50483801ffa..16190fa484b 100644
--- a/Documentation/components/drivers/character/timers/pwm.rst
+++ b/Documentation/components/drivers/character/timers/pwm.rst
@@ -182,6 +182,24 @@ of PWM channels should be set before this operation.
 
 The ``PWMIOC_STOPS`` command stops the pulsed output.
 
+.. c:macro:: PWMIOC_FAULTS_FETCH_AND_CLEAR
+
+The ``PWMIOC_FAULTS_FETCH_AND_CLEAR`` command clears fault inputs. Some
+faults can be latched (remain active even if the source is not active
+anymore) and have to be cleared from the software. This provides an option
+to clear faults from the application and re-enable PWM output. It can be
+also used to fetch the current faults.
+
+The call takes a pointer to ``unsigned long`` variable as an argument, a
+bitmask defining which faults are to be cleared. The driver clears these
+faults and fills the argument with the active faults prior to this clear.
+Having the argument variable equal to zero will result in no faults cleared
+but the user will get the currently active faults. If NULL is passed as
+an argument, then all currently set faults are cleared and fetch is not
+performed.
+
+This may not be supported by all drivers.
+
 Application Example
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/include/nuttx/timers/pwm.h b/include/nuttx/timers/pwm.h
index 7a124c655c8..bab35ef9122 100644
--- a/include/nuttx/timers/pwm.h
+++ b/include/nuttx/timers/pwm.h
@@ -109,12 +109,23 @@
  *  and return immediately.
  *
  *  ioctl argument:  None
+ *
+ * PWMIOC_FAULTS_FETCH_AND_CLEAR - Fetch current faults and clear them.
+ *  This command will clear fault inputs and re-enable PWM output. It also
+ *  fetches the faults active before the clear operation.
+ *
+ *  ioctl argument:  A pointer to an unsigned long bitmask of fault inputs to
+ *  be cleared. The previously active faults are also saved into this
+ *  bitmask, therefore it ioctl is both input and output. Passing NULL
+ *  clears all active faults and does not read them back. Passing a pointer
+ *  to a bitmask full of zeros will read the current faults and clear none.
  */
 
-#define PWMIOC_SETCHARACTERISTICS _PWMIOC(1)
-#define PWMIOC_GETCHARACTERISTICS _PWMIOC(2)
-#define PWMIOC_START              _PWMIOC(3)
-#define PWMIOC_STOP               _PWMIOC(4)
+#define PWMIOC_SETCHARACTERISTICS      _PWMIOC(1)
+#define PWMIOC_GETCHARACTERISTICS      _PWMIOC(2)
+#define PWMIOC_START                   _PWMIOC(3)
+#define PWMIOC_STOP                    _PWMIOC(4)
+#define PWMIOC_FAULTS_FETCH_AND_CLEAR  _PWMIOC(5)
 
 /* PWM channel polarity *****************************************************/