diff --git a/include/nuttx/sensors/qencoder.h b/include/nuttx/sensors/qencoder.h
index ab1e8f9f0b..8632165baf 100644
--- a/include/nuttx/sensors/qencoder.h
+++ b/include/nuttx/sensors/qencoder.h
@@ -54,15 +54,20 @@
  *   Argument: uint32_t maximum position
  * QEIOC_SETINDEX - Set the index position for the encoder.
  *   Argument: uint32_t index position
+ * QEIOC_GETINDEX - Get the index position and count of the encoder.
+ *   The structure also contains current position so QEIOC_POSITION
+ *   is not required when QEIOC_GETINDEX is used.
+ *   Argment: qe_index_s structure (refer below)
  */
 
 #define QEIOC_POSITION     _QEIOC(0x0001) /* Arg: int32_t* pointer */
 #define QEIOC_RESET        _QEIOC(0x0002) /* Arg: None */
 #define QEIOC_SETPOSMAX    _QEIOC(0x0003) /* Arg: uint32_t */
 #define QEIOC_SETINDEX     _QEIOC(0x0004) /* Arg: uint32_t */
+#define QEIOC_GETINDEX     _QEIOC(0x0005) /* Arg: qe_index_s struct */
 
 #define QE_FIRST           0x0001         /* First required command */
-#define QE_NCMDS           4              /* 4 required commands */
+#define QE_NCMDS           5              /* 5 required commands */
 
 /* User defined ioctl commands are also supported. These will be forwarded
  * by the upper-half QE driver to the lower-half QE driver via the ioctl()
@@ -138,6 +143,18 @@ struct qe_ops_s
                     int cmd, unsigned long arg);
 };
 
+/* Structure qe_index_s is used for QEIOC_GETINDEX call. This call returns
+ * current encoder position, the last index position and number of index
+ * occurances.
+ */
+
+struct qe_index_s
+{
+  int32_t qenc_pos;     /* Qencoder actual position */
+  int32_t indx_pos;     /* Index last position */
+  int16_t indx_cnt;     /* Number of index occurances */
+};
+
 /* This is the interface between the lower half quadrature encoder driver
  * and the upper half quadrature encoder driver.  A (device-specific)
  * instance of this structure is passed to the upper-half driver when the