diff --git a/components/ulp/include/esp32/ulp.h b/components/ulp/include/esp32/ulp.h
index 6d4bb18b13..3978e70868 100644
--- a/components/ulp/include/esp32/ulp.h
+++ b/components/ulp/include/esp32/ulp.h
@@ -333,6 +333,14 @@ static inline uint32_t SOC_REG_TO_ULP_PERIPH_SEL(uint32_t reg) {
     .high = high_bit, \
     .opcode = OPCODE_RD_REG } }
 
+/**
+ * Set or clear a bit in the peripheral register.
+ *
+ * Sets bit (1 << shift) of register reg to value val.
+ * This instruction can access RTC_CNTL_, RTC_IO_, and SENS_ peripheral registers.
+ */
+#define I_WR_REG_BIT(reg, shift, val) I_WR_REG(reg, shift, shift, val)
+
 /**
  * End program.
  *