diff --git a/README b/README
index cb49aa15da..dab291e0d0 100644
--- a/README
+++ b/README
@@ -3160,6 +3160,7 @@ i2c	- I2C sub-system
 sspi	- SPI utility commands
 base	- print or set address offset
 printenv- print environment variables
+pwm	- control pwm channels
 setenv	- set environment variables
 saveenv - save environment variables to persistent storage
 protect - enable or disable FLASH write protection
diff --git a/cmd/Kconfig b/cmd/Kconfig
index 1595de999b..0d085108f4 100644
--- a/cmd/Kconfig
+++ b/cmd/Kconfig
@@ -918,6 +918,12 @@ config CMD_GPIO
 	help
 	  GPIO support.
 
+config CMD_PWM
+	bool "pwm"
+	depends on DM_PWM
+	help
+	  Control PWM channels, this allows invert/config/enable/disable PWM channels.
+
 config CMD_GPT
 	bool "GPT (GUID Partition Table) command"
 	select EFI_PARTITION
diff --git a/cmd/Makefile b/cmd/Makefile
index dd86675bf2..75df3c136c 100644
--- a/cmd/Makefile
+++ b/cmd/Makefile
@@ -120,6 +120,7 @@ endif
 obj-$(CONFIG_CMD_PINMUX) += pinmux.o
 obj-$(CONFIG_CMD_PMC) += pmc.o
 obj-$(CONFIG_CMD_PSTORE) += pstore.o
+obj-$(CONFIG_CMD_PWM) += pwm.o
 obj-$(CONFIG_CMD_PXE) += pxe.o pxe_utils.o
 obj-$(CONFIG_CMD_WOL) += wol.o
 obj-$(CONFIG_CMD_QFW) += qfw.o
diff --git a/cmd/pwm.c b/cmd/pwm.c
new file mode 100644
index 0000000000..f704c7a755
--- /dev/null
+++ b/cmd/pwm.c
@@ -0,0 +1,120 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Control PWM channels
+ *
+ * Copyright (c) 2020 SiFive, Inc
+ * author: Pragnesh Patel <pragnesh.patel@sifive.com>
+ */
+
+#include <command.h>
+#include <dm.h>
+#include <pwm.h>
+
+enum pwm_cmd {
+	PWM_SET_INVERT,
+	PWM_SET_CONFIG,
+	PWM_SET_ENABLE,
+	PWM_SET_DISABLE,
+};
+
+static int do_pwm(struct cmd_tbl *cmdtp, int flag, int argc,
+		  char *const argv[])
+{
+	const char *str_cmd, *str_channel = NULL, *str_enable = NULL;
+	const char *str_pwm = NULL, *str_period = NULL, *str_duty = NULL;
+	enum pwm_cmd sub_cmd;
+	struct udevice *dev;
+	u32 channel, pwm_enable, pwm_dev, period_ns = 0, duty_ns = 0;
+	int ret;
+
+	if (argc < 4)
+ show_usage:
+		return CMD_RET_USAGE;
+
+	str_cmd = argv[1];
+	argc -= 2;
+	argv += 2;
+
+	if (argc > 0) {
+		str_pwm = *argv;
+		argc--;
+		argv++;
+	}
+
+	if (!str_pwm)
+		goto show_usage;
+
+	switch (*str_cmd) {
+	case 'i':
+		sub_cmd = PWM_SET_INVERT;
+		break;
+	case 'c':
+		sub_cmd = PWM_SET_CONFIG;
+		break;
+	case 'e':
+		sub_cmd = PWM_SET_ENABLE;
+		break;
+	case 'd':
+		sub_cmd = PWM_SET_DISABLE;
+		break;
+	default:
+		goto show_usage;
+	}
+
+	if (IS_ENABLED(CONFIG_DM_PWM)) {
+		pwm_dev = simple_strtoul(str_pwm, NULL, 10);
+		ret = uclass_get_device(UCLASS_PWM, pwm_dev, &dev);
+		if (ret) {
+			printf("PWM: '%s' not found\n", str_pwm);
+			return cmd_process_error(cmdtp, ret);
+		}
+	}
+
+	if (argc > 0) {
+		str_channel = *argv;
+		channel = simple_strtoul(str_channel, NULL, 10);
+		argc--;
+		argv++;
+	} else {
+		goto show_usage;
+	}
+
+	if (sub_cmd == PWM_SET_INVERT && argc > 0) {
+		str_enable = *argv;
+		pwm_enable = simple_strtoul(str_enable, NULL, 10);
+		ret = pwm_set_invert(dev, channel, pwm_enable);
+	} else if (sub_cmd == PWM_SET_CONFIG && argc == 2) {
+		str_period = *argv;
+		argc--;
+		argv++;
+		period_ns = simple_strtoul(str_period, NULL, 10);
+
+		if (argc > 0) {
+			str_duty = *argv;
+			duty_ns = simple_strtoul(str_duty, NULL, 10);
+		}
+
+		ret = pwm_set_config(dev, channel, period_ns, duty_ns);
+	} else if (sub_cmd == PWM_SET_ENABLE) {
+		ret = pwm_set_enable(dev, channel, 1);
+	} else if (sub_cmd == PWM_SET_DISABLE) {
+		ret = pwm_set_enable(dev, channel, 0);
+	} else {
+		printf("PWM arguments missing\n");
+		return CMD_RET_FAILURE;
+	}
+
+	if (ret) {
+		printf("error\n");
+		return CMD_RET_FAILURE;
+	}
+
+	printf("success\n");
+	return CMD_RET_SUCCESS;
+}
+
+U_BOOT_CMD(pwm, 6, 0, do_pwm,
+	   "control pwm channels",
+	   "pwm <invert> <pwm_dev_num> <channel> <polarity>\n"
+	   "pwm <config> <pwm_dev_num> <channel> <period_ns> <duty_ns>\n"
+	   "pwm <enable/disable> <pwm_dev_num> <channel>");
diff --git a/configs/sandbox_defconfig b/configs/sandbox_defconfig
index f2a767a4cd..7a16603461 100644
--- a/configs/sandbox_defconfig
+++ b/configs/sandbox_defconfig
@@ -58,6 +58,7 @@ CONFIG_CMD_LSBLK=y
 CONFIG_CMD_MUX=y
 CONFIG_CMD_OSD=y
 CONFIG_CMD_PCI=y
+CONFIG_CMD_PWM=y
 CONFIG_CMD_READ=y
 CONFIG_CMD_REMOTEPROC=y
 CONFIG_CMD_SPI=y
diff --git a/test/cmd/Makefile b/test/cmd/Makefile
index 859dcda239..dde98dd371 100644
--- a/test/cmd/Makefile
+++ b/test/cmd/Makefile
@@ -4,3 +4,4 @@
 
 obj-y += mem.o
 obj-$(CONFIG_CMD_MEM_SEARCH) += mem_search.o
+obj-$(CONFIG_CMD_PWM) += pwm.o
diff --git a/test/cmd/pwm.c b/test/cmd/pwm.c
new file mode 100644
index 0000000000..987cdd1115
--- /dev/null
+++ b/test/cmd/pwm.c
@@ -0,0 +1,54 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Test for pwm command
+ *
+ * Copyright 2020 SiFive, Inc
+ *
+ * Authors:
+ *   Pragnesh Patel <pragnesh.patel@sifive.com>
+ */
+
+#include <dm.h>
+#include <dm/test.h>
+#include <test/test.h>
+#include <test/ut.h>
+
+/* Basic test of 'pwm' command */
+static int dm_test_pwm_cmd(struct unit_test_state *uts)
+{
+	struct udevice *dev;
+
+	ut_assertok(uclass_get_device(UCLASS_PWM, 0, &dev));
+	ut_assertnonnull(dev);
+
+	ut_assertok(console_record_reset_enable());
+
+	/* pwm <invert> <pwm_dev_num> <channel> <polarity> */
+	run_command("pwm invert 0 0 1", 0);
+	console_record_readline(uts->actual_str, sizeof(uts->actual_str));
+	ut_asserteq_str("success", uts->actual_str);
+
+	run_command("pwm invert 0 0 0", 0);
+	console_record_readline(uts->actual_str, sizeof(uts->actual_str));
+	ut_asserteq_str("success", uts->actual_str);
+
+	/* pwm <config> <pwm_dev_num> <channel> <period_ns> <duty_ns> */
+	run_command("pwm config 0 0 period_ns duty_ns", 0);
+	console_record_readline(uts->actual_str, sizeof(uts->actual_str));
+	ut_asserteq_str("success", uts->actual_str);
+
+	/* pwm <enable/disable> <pwm_dev_num> <channel> */
+	run_command("pwm enable 0 0", 0);
+	console_record_readline(uts->actual_str, sizeof(uts->actual_str));
+	ut_asserteq_str("success", uts->actual_str);
+
+	run_command("pwm disable 0 0", 0);
+	console_record_readline(uts->actual_str, sizeof(uts->actual_str));
+	ut_asserteq_str("success", uts->actual_str);
+
+	ut_assert_console_end();
+
+	return 0;
+}
+
+DM_TEST(dm_test_pwm_cmd, UT_TESTF_SCAN_PDATA | UT_TESTF_SCAN_FDT | UT_TESTF_CONSOLE_REC);
