diff --git a/src/target/espressif/esp32s3.c b/src/target/espressif/esp32s3.c
index 22e1630e1..2afb4b009 100644
--- a/src/target/espressif/esp32s3.c
+++ b/src/target/espressif/esp32s3.c
@@ -421,4 +421,5 @@ struct target_type esp32s3_target = {
 	.deinit_target = esp_xtensa_target_deinit,
 
 	.commands = esp32s3_command_handlers,
+	.profiling = esp_xtensa_profiling,
 };
diff --git a/src/target/espressif/esp_xtensa.c b/src/target/espressif/esp_xtensa.c
index 11895d23b..9b57f345e 100644
--- a/src/target/espressif/esp_xtensa.c
+++ b/src/target/espressif/esp_xtensa.c
@@ -179,3 +179,75 @@ int esp_xtensa_breakpoint_remove(struct target *target, struct breakpoint *break
 	return xtensa_breakpoint_remove(target, breakpoint);
 	/* flash breakpoints will be handled in another patch */
 }
+
+int esp_xtensa_profiling(struct target *target, uint32_t *samples,
+	uint32_t max_num_samples, uint32_t *num_samples, uint32_t seconds)
+{
+	struct timeval timeout, now;
+	struct xtensa *xtensa = target_to_xtensa(target);
+	int retval = ERROR_OK;
+	int res;
+
+	/* Vary samples per pass to avoid sampling a periodic function periodically */
+	#define MIN_PASS 200
+	#define MAX_PASS 1000
+
+	gettimeofday(&timeout, NULL);
+	timeval_add_time(&timeout, seconds, 0);
+
+	uint8_t buf[sizeof(uint32_t) * MAX_PASS];
+
+	/* Capture one sample to verify the register is present and working */
+	xtensa_queue_dbg_reg_read(xtensa, XDMREG_DEBUGPC, buf);
+	res = xtensa_dm_queue_execute(&xtensa->dbg_mod);
+	if (res != ERROR_OK) {
+		LOG_TARGET_INFO(target, "Failed to read DEBUGPC, fallback to stop-and-go");
+		return target_profiling_default(target, samples, max_num_samples, num_samples, seconds);
+	} else if (buf[0] == 0 && buf[1] == 0 && buf[2] == 0 && buf[3] == 0) {
+		LOG_TARGET_INFO(target, "NULL DEBUGPC, fallback to stop-and-go");
+		return target_profiling_default(target, samples, max_num_samples, num_samples, seconds);
+	}
+
+	LOG_TARGET_INFO(target, "Starting XTENSA DEBUGPC profiling. Sampling as fast as we can...");
+
+	/* Make sure the target is running */
+	target_poll(target);
+	if (target->state == TARGET_HALTED)
+		retval = target_resume(target, 1, 0, 0, 0);
+
+	if (retval != ERROR_OK) {
+		LOG_TARGET_ERROR(target, "Error while resuming target");
+		return retval;
+	}
+
+	uint32_t sample_count = 0;
+
+	for (;;) {
+		uint32_t remaining = max_num_samples - sample_count;
+		uint32_t this_pass = rand() % (MAX_PASS - MIN_PASS) + MIN_PASS;
+		this_pass = this_pass > remaining ? remaining : this_pass;
+		for (uint32_t i = 0; i < this_pass; ++i)
+			xtensa_queue_dbg_reg_read(xtensa, XDMREG_DEBUGPC, buf + i * sizeof(uint32_t));
+		res = xtensa_dm_queue_execute(&xtensa->dbg_mod);
+		if (res != ERROR_OK) {
+			LOG_TARGET_ERROR(target, "Failed to read DEBUGPC!");
+			return res;
+		}
+
+		for (uint32_t i = 0; i < this_pass; ++i) {
+			uint32_t sample32 = buf_get_u32(buf + i * sizeof(uint32_t), 0, 32);
+			samples[sample_count++] = sample32;
+		}
+		gettimeofday(&now, NULL);
+		if (sample_count >= max_num_samples || timeval_compare(&now, &timeout) > 0) {
+			LOG_TARGET_INFO(target, "Profiling completed. %" PRIu32 " samples.", sample_count);
+			break;
+		}
+	}
+
+	*num_samples = sample_count;
+	return retval;
+
+	#undef MIN_PASS
+	#undef MAX_PASS
+}
diff --git a/src/target/espressif/esp_xtensa.h b/src/target/espressif/esp_xtensa.h
index 00f67a370..56c903f60 100644
--- a/src/target/espressif/esp_xtensa.h
+++ b/src/target/espressif/esp_xtensa.h
@@ -37,6 +37,9 @@ void esp_xtensa_queue_tdi_idle(struct target *target);
 int esp_xtensa_breakpoint_add(struct target *target, struct breakpoint *breakpoint);
 int esp_xtensa_breakpoint_remove(struct target *target, struct breakpoint *breakpoint);
 int esp_xtensa_poll(struct target *target);
+int esp_xtensa_profiling(struct target *target, uint32_t *samples,
+	uint32_t max_num_samples, uint32_t *num_samples, uint32_t seconds);
+
 int esp_xtensa_on_halt(struct target *target);
 
 #endif	/* OPENOCD_TARGET_ESP_XTENSA_H */
diff --git a/src/target/xtensa/xtensa_debug_module.h b/src/target/xtensa/xtensa_debug_module.h
index 495da2a64..8391a9638 100644
--- a/src/target/xtensa/xtensa_debug_module.h
+++ b/src/target/xtensa/xtensa_debug_module.h
@@ -75,6 +75,7 @@ enum xtensa_dm_reg {
 	XDMREG_DELAYCNT,
 	XDMREG_MEMADDRSTART,
 	XDMREG_MEMADDREND,
+	XDMREG_DEBUGPC,/*Unsupported, undocumented, may not be present*/
 	XDMREG_EXTTIMELO,
 	XDMREG_EXTTIMEHI,
 	XDMREG_TRAXRSVD48,
@@ -184,6 +185,7 @@ struct xtensa_dm_reg_offsets {
 	{ .nar = 0x07, .apb = 0x001c },	/* XDMREG_DELAYCNT */		\
 	{ .nar = 0x08, .apb = 0x0020 },	/* XDMREG_MEMADDRSTART */	\
 	{ .nar = 0x09, .apb = 0x0024 },	/* XDMREG_MEMADDREND */		\
+	{ .nar = 0x0f, .apb = 0x003c },	/* XDMREG_DEBUGPC */		\
 	{ .nar = 0x10, .apb = 0x0040 },	/* XDMREG_EXTTIMELO */		\
 	{ .nar = 0x11, .apb = 0x0044 },	/* XDMREG_EXTTIMEHI */		\
 	{ .nar = 0x12, .apb = 0x0048 },	/* XDMREG_TRAXRSVD48 */		\