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diff --git a/sys/arm64/arm64/gdb_machdep.c b/sys/arm64/arm64/gdb_machdep.c
new file mode 100644
--- /dev/null
+++ b/sys/arm64/arm64/gdb_machdep.c
@@ -0,0 +1,112 @@
+/*-
+ * SPDX-License-Identifier: BSD-2-Clause-FreeBSD
+ *
+ * Copyright (c) 2020 The FreeBSD Foundation
+ *
+ * This software was developed by Mitchell Horne under sponsorship from
+ * the FreeBSD Foundation.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ */
+
+#include <sys/param.h>
+#include <sys/systm.h>
+#include <sys/kdb.h>
+#include <sys/kernel.h>
+#include <sys/proc.h>
+#include <sys/signal.h>
+
+#include <machine/armreg.h>
+#include <machine/frame.h>
+#include <machine/gdb_machdep.h>
+#include <machine/pcb.h>
+
+#include <gdb/gdb.h>
+
+void *
+gdb_cpu_getreg(int regnum, size_t *regsz)
+{
+
+ *regsz = gdb_cpu_regsz(regnum);
+
+ if (kdb_thread == curthread) {
+ switch (regnum) {
+ case GDB_REG_LR: return (&kdb_frame->tf_lr);
+ case GDB_REG_SP: return (&kdb_frame->tf_sp);
+ case GDB_REG_PC: return (&kdb_frame->tf_elr);
+ case GDB_REG_CSPR: return (&kdb_frame->tf_spsr);
+ }
+ }
+ switch (regnum) {
+ case GDB_REG_SP: return (&kdb_thrctx->pcb_sp);
+ case GDB_REG_PC: /* FALLTHROUGH */
+ case GDB_REG_LR: return (&kdb_thrctx->pcb_lr);
+ default:
+ if (regnum >= GDB_REG_X0 && regnum <= GDB_REG_X29)
+ return (&kdb_thrctx->pcb_x[regnum]);
+ break;
+ }
+
+ return (NULL);
+}
+
+void
+gdb_cpu_setreg(int regnum, void *val)
+{
+ register_t regval = *(register_t *)val;
+
+ /* For curthread, keep the pcb and trapframe in sync. */
+ if (kdb_thread == curthread) {
+ switch (regnum) {
+ case GDB_REG_PC: kdb_frame->tf_elr = regval; break;
+ case GDB_REG_SP: kdb_frame->tf_sp = regval; break;
+ default:
+ if (regnum >= GDB_REG_X0 && regnum <= GDB_REG_X29) {
+ kdb_frame->tf_x[regnum] = regval;
+ }
+ break;
+ }
+ }
+ switch (regnum) {
+ case GDB_REG_PC: /* FALLTHROUGH */
+ case GDB_REG_LR: kdb_thrctx->pcb_lr = regval; break;
+ case GDB_REG_SP: kdb_thrctx->pcb_sp = regval; break;
+ default:
+ if (regnum >= GDB_REG_X0 && regnum <= GDB_REG_X29) {
+ kdb_thrctx->pcb_x[regnum] = regval;
+ }
+ break;
+ }
+}
+
+int
+gdb_cpu_signal(int type, int code __unused)
+{
+
+ switch (type) {
+ case EXCP_WATCHPT_EL1:
+ case EXCP_SOFTSTP_EL1:
+ case EXCP_BRK:
+ return (SIGTRAP);
+ }
+ return (SIGEMT);
+}
diff --git a/sys/arm64/conf/GENERIC b/sys/arm64/conf/GENERIC
--- a/sys/arm64/conf/GENERIC
+++ b/sys/arm64/conf/GENERIC
@@ -87,7 +87,7 @@
options KDB_TRACE # Print a stack trace for a panic.
# For full debugger support use (turn off in stable branch):
options DDB # Support DDB.
-#options GDB # Support remote GDB.
+options GDB # Support remote GDB.
options DEADLKRES # Enable the deadlock resolver
options INVARIANTS # Enable calls of extra sanity checking
options INVARIANT_SUPPORT # Extra sanity checks of internal structures, required by INVARIANTS
diff --git a/sys/arm64/include/gdb_machdep.h b/sys/arm64/include/gdb_machdep.h
new file mode 100644
--- /dev/null
+++ b/sys/arm64/include/gdb_machdep.h
@@ -0,0 +1,81 @@
+/*-
+ * SPDX-License-Identifier: BSD-2-Clause-FreeBSD
+ *
+ * Copyright (c) 2020 The FreeBSD Foundation
+ *
+ * This software was developed by Mitchell Horne under sponsorship from
+ * the FreeBSD Foundation.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ */
+
+#ifndef _MACHINE_GDB_MACHDEP_H_
+#define _MACHINE_GDB_MACHDEP_H_
+
+#define GDB_BUFSZ 4096
+#define GDB_NREGS 68
+#define GDB_REG_X0 0
+#define GDB_REG_X29 29
+#define GDB_REG_LR 30
+#define GDB_REG_SP 31
+#define GDB_REG_PC 32
+#define GDB_REG_CSPR 33
+#define GDB_REG_V0 34
+#define GDB_REG_V31 65
+#define GDB_REG_FPSR 66
+#define GDB_REG_FPCR 67
+_Static_assert(GDB_BUFSZ >= (GDB_NREGS * 16), "buffer fits 'g' regs");
+
+static __inline size_t
+gdb_cpu_regsz(int regnum)
+{
+ if (regnum == GDB_REG_CSPR || regnum == GDB_REG_FPSR ||
+ regnum == GDB_REG_FPCR)
+ return (4);
+ else if (regnum >= GDB_REG_V0 && regnum <= GDB_REG_V31)
+ return (16);
+
+ return (8);
+}
+
+static __inline int
+gdb_cpu_query(void)
+{
+ return (0);
+}
+
+static __inline void *
+gdb_begin_write(void)
+{
+ return (NULL);
+}
+
+static __inline void
+gdb_end_write(void *arg __unused)
+{
+}
+
+void *gdb_cpu_getreg(int, size_t *);
+void gdb_cpu_setreg(int, void *);
+int gdb_cpu_signal(int, int);
+
+#endif /* !_MACHINE_GDB_MACHDEP_H_ */
diff --git a/sys/conf/files.arm64 b/sys/conf/files.arm64
--- a/sys/conf/files.arm64
+++ b/sys/conf/files.arm64
@@ -168,6 +168,7 @@
arm64/arm64/elf_machdep.c standard
arm64/arm64/exception.S standard
arm64/arm64/freebsd32_machdep.c optional compat_freebsd32
+arm64/arm64/gdb_machdep.c optional gdb
arm64/arm64/gicv3_its.c optional intrng fdt
arm64/arm64/gic_v3.c standard
arm64/arm64/gic_v3_acpi.c optional acpi

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