diff --git a/doc/openocd.texi b/doc/openocd.texi
index 4eb911c3c..b03da4f83 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -11487,6 +11487,12 @@ Execute arbitrary instruction(s) provided as an ascii string.  The string repres
 number of instruction bytes, thus its length must be even.
 @end deffn
 
+@deffn {Command} {xtensa dm} (address) [value]
+Read or write Xtensa Debug Module (DM) registers.  @var{address} is required for both reads
+and writes and is a 4-byte-aligned value typically between 0 and 0x3ffc.  @var{value} is specified
+only for write accesses.
+@end deffn
+
 @subsection Xtensa Performance Monitor Configuration
 
 @deffn {Command} {xtensa perfmon_enable} <counter_id> <select> [mask] [kernelcnt] [tracelevel]
diff --git a/src/target/xtensa/xtensa.c b/src/target/xtensa/xtensa.c
index c575b534e..2aacc3620 100644
--- a/src/target/xtensa/xtensa.c
+++ b/src/target/xtensa/xtensa.c
@@ -3978,6 +3978,38 @@ COMMAND_HANDLER(xtensa_cmd_smpbreak)
 		get_current_target(CMD_CTX));
 }
 
+COMMAND_HELPER(xtensa_cmd_dm_rw_do, struct xtensa *xtensa)
+{
+	if (CMD_ARGC == 1) {
+		// read: xtensa dm addr
+		uint32_t addr = strtoul(CMD_ARGV[0], NULL, 0);
+		uint32_t val;
+		int res = xtensa_dm_read(&xtensa->dbg_mod, addr, &val);
+		if (res == ERROR_OK)
+			command_print(CMD, "xtensa DM(0x%08" PRIx32 ") -> 0x%08" PRIx32, addr, val);
+		else
+			command_print(CMD, "xtensa DM(0x%08" PRIx32 ") : read ERROR %" PRId32, addr, res);
+		return res;
+	} else if (CMD_ARGC == 2) {
+		// write: xtensa dm addr value
+		uint32_t addr = strtoul(CMD_ARGV[0], NULL, 0);
+		uint32_t val = strtoul(CMD_ARGV[1], NULL, 0);
+		int res = xtensa_dm_write(&xtensa->dbg_mod, addr, val);
+		if (res == ERROR_OK)
+			command_print(CMD, "xtensa DM(0x%08" PRIx32 ") <- 0x%08" PRIx32, addr, val);
+		else
+			command_print(CMD, "xtensa DM(0x%08" PRIx32 ") : write ERROR %" PRId32, addr, res);
+		return res;
+	}
+	return ERROR_COMMAND_SYNTAX_ERROR;
+}
+
+COMMAND_HANDLER(xtensa_cmd_dm_rw)
+{
+	return CALL_COMMAND_HANDLER(xtensa_cmd_dm_rw_do,
+		target_to_xtensa(get_current_target(CMD_CTX)));
+}
+
 COMMAND_HELPER(xtensa_cmd_tracestart_do, struct xtensa *xtensa)
 {
 	struct xtensa_trace_status trace_status;
@@ -4234,6 +4266,13 @@ static const struct command_registration xtensa_any_command_handlers[] = {
 		.help = "Set the way the CPU chains OCD breaks",
 		.usage = "[none|breakinout|runstall] | [BreakIn] [BreakOut] [RunStallIn] [DebugModeOut]",
 	},
+	{
+		.name = "dm",
+		.handler = xtensa_cmd_dm_rw,
+		.mode = COMMAND_ANY,
+		.help = "Xtensa DM read/write",
+		.usage = "addr [value]"
+	},
 	{
 		.name = "perfmon_enable",
 		.handler = xtensa_cmd_perfmon_enable,
diff --git a/src/target/xtensa/xtensa_debug_module.c b/src/target/xtensa/xtensa_debug_module.c
index 31d7a9435..8045779b8 100644
--- a/src/target/xtensa/xtensa_debug_module.c
+++ b/src/target/xtensa/xtensa_debug_module.c
@@ -34,6 +34,16 @@ static const struct xtensa_dm_pwr_reg_offsets xdm_pwr_regs[XDMREG_PWRNUM] =
 static const struct xtensa_dm_reg_offsets xdm_regs[XDMREG_NUM] =
 	XTENSA_DM_REG_OFFSETS;
 
+static enum xtensa_dm_reg xtensa_dm_regaddr_to_id(uint32_t addr)
+{
+	enum xtensa_dm_reg id;
+	uint32_t addr_masked = (addr & (XTENSA_DM_APB_ALIGN - 1));
+	for (id = XDMREG_TRAXID; id < XDMREG_NUM; id++)
+		if (xdm_regs[id].apb == addr_masked)
+			break;
+	return id;
+}
+
 static void xtensa_dm_add_set_ir(struct xtensa_debug_module *dm, uint8_t value)
 {
 	struct scan_field field;
@@ -285,6 +295,34 @@ int xtensa_dm_core_status_clear(struct xtensa_debug_module *dm, xtensa_dsr_t bit
 	return xtensa_dm_queue_execute(dm);
 }
 
+int xtensa_dm_read(struct xtensa_debug_module *dm, uint32_t addr, uint32_t *val)
+{
+	enum xtensa_dm_reg reg = xtensa_dm_regaddr_to_id(addr);
+	uint8_t buf[sizeof(uint32_t)];
+	if (reg < XDMREG_NUM) {
+		xtensa_dm_queue_enable(dm);
+		dm->dbg_ops->queue_reg_read(dm, reg, buf);
+		xtensa_dm_queue_tdi_idle(dm);
+		int res = xtensa_dm_queue_execute(dm);
+		if (res == ERROR_OK && val)
+			*val = buf_get_u32(buf, 0, 32);
+		return res;
+	}
+	return ERROR_FAIL;
+}
+
+int xtensa_dm_write(struct xtensa_debug_module *dm, uint32_t addr, uint32_t val)
+{
+	enum xtensa_dm_reg reg = xtensa_dm_regaddr_to_id(addr);
+	if (reg < XDMREG_NUM) {
+		xtensa_dm_queue_enable(dm);
+		dm->dbg_ops->queue_reg_write(dm, reg, val);
+		xtensa_dm_queue_tdi_idle(dm);
+		return xtensa_dm_queue_execute(dm);
+	}
+	return ERROR_FAIL;
+}
+
 int xtensa_dm_trace_start(struct xtensa_debug_module *dm, struct xtensa_trace_start_config *cfg)
 {
 	/*Turn off trace unit so we can start a new trace. */
diff --git a/src/target/xtensa/xtensa_debug_module.h b/src/target/xtensa/xtensa_debug_module.h
index 46b29354c..495da2a64 100644
--- a/src/target/xtensa/xtensa_debug_module.h
+++ b/src/target/xtensa/xtensa_debug_module.h
@@ -75,6 +75,22 @@ enum xtensa_dm_reg {
 	XDMREG_DELAYCNT,
 	XDMREG_MEMADDRSTART,
 	XDMREG_MEMADDREND,
+	XDMREG_EXTTIMELO,
+	XDMREG_EXTTIMEHI,
+	XDMREG_TRAXRSVD48,
+	XDMREG_TRAXRSVD4C,
+	XDMREG_TRAXRSVD50,
+	XDMREG_TRAXRSVD54,
+	XDMREG_TRAXRSVD58,
+	XDMREG_TRAXRSVD5C,
+	XDMREG_TRAXRSVD60,
+	XDMREG_TRAXRSVD64,
+	XDMREG_TRAXRSVD68,
+	XDMREG_TRAXRSVD6C,
+	XDMREG_TRAXRSVD70,
+	XDMREG_TRAXRSVD74,
+	XDMREG_CONFIGID0,
+	XDMREG_CONFIGID1,
 
 	/* Performance Monitor Registers */
 	XDMREG_PMG,
@@ -168,6 +184,22 @@ struct xtensa_dm_reg_offsets {
 	{ .nar = 0x07, .apb = 0x001c },	/* XDMREG_DELAYCNT */		\
 	{ .nar = 0x08, .apb = 0x0020 },	/* XDMREG_MEMADDRSTART */	\
 	{ .nar = 0x09, .apb = 0x0024 },	/* XDMREG_MEMADDREND */		\
+	{ .nar = 0x10, .apb = 0x0040 },	/* XDMREG_EXTTIMELO */		\
+	{ .nar = 0x11, .apb = 0x0044 },	/* XDMREG_EXTTIMEHI */		\
+	{ .nar = 0x12, .apb = 0x0048 },	/* XDMREG_TRAXRSVD48 */		\
+	{ .nar = 0x13, .apb = 0x004c },	/* XDMREG_TRAXRSVD4C */		\
+	{ .nar = 0x14, .apb = 0x0050 },	/* XDMREG_TRAXRSVD50 */		\
+	{ .nar = 0x15, .apb = 0x0054 },	/* XDMREG_TRAXRSVD54 */		\
+	{ .nar = 0x16, .apb = 0x0058 },	/* XDMREG_TRAXRSVD58 */		\
+	{ .nar = 0x17, .apb = 0x005c },	/* XDMREG_TRAXRSVD5C */		\
+	{ .nar = 0x18, .apb = 0x0060 },	/* XDMREG_TRAXRSVD60 */		\
+	{ .nar = 0x19, .apb = 0x0064 },	/* XDMREG_TRAXRSVD64 */		\
+	{ .nar = 0x1a, .apb = 0x0068 },	/* XDMREG_TRAXRSVD68 */		\
+	{ .nar = 0x1b, .apb = 0x006c },	/* XDMREG_TRAXRSVD6C */		\
+	{ .nar = 0x1c, .apb = 0x0070 },	/* XDMREG_TRAXRSVD70 */		\
+	{ .nar = 0x1d, .apb = 0x0074 },	/* XDMREG_TRAXRSVD74 */		\
+	{ .nar = 0x1e, .apb = 0x0078 },	/* XDMREG_CONFIGID0 */		\
+	{ .nar = 0x1f, .apb = 0x007c },	/* XDMREG_CONFIGID1 */		\
 																\
 	/* Performance Monitor Registers */							\
 	{ .nar = 0x20, .apb = 0x1000 },	/* XDMREG_PMG */			\
@@ -297,6 +329,11 @@ struct xtensa_dm_reg_offsets {
 #define DEBUGCAUSE_DI               BIT(5)	/* Debug Interrupt */
 #define DEBUGCAUSE_VALID            BIT(31)	/* Pseudo-value to trigger reread (NX only) */
 
+/* TRAXID */
+#define TRAXID_PRODNO_TRAX          0		/* TRAXID.PRODNO value for TRAX module */
+#define TRAXID_PRODNO_SHIFT         28
+#define TRAXID_PRODNO_MASK          0xf
+
 #define TRAXCTRL_TREN               BIT(0)	/* Trace enable. Tracing starts on 0->1 */
 #define TRAXCTRL_TRSTP              BIT(1)	/* Trace Stop. Make 1 to stop trace. */
 #define TRAXCTRL_PCMEN              BIT(2)	/* PC match enable */
@@ -512,6 +549,9 @@ static inline xtensa_dsr_t xtensa_dm_core_status_get(struct xtensa_debug_module
 	return dm->core_status.dsr;
 }
 
+int xtensa_dm_read(struct xtensa_debug_module *dm, uint32_t addr, uint32_t *val);
+int xtensa_dm_write(struct xtensa_debug_module *dm, uint32_t addr, uint32_t val);
+
 int xtensa_dm_device_id_read(struct xtensa_debug_module *dm);
 static inline xtensa_ocdid_t xtensa_dm_device_id_get(struct xtensa_debug_module *dm)
 {