diff --git a/arch/arm/Kconfig b/arch/arm/Kconfig
index 2e8091e2d8a86d12d40c4d83fce2b2eb9ed43edf..0dcf88e7f9cf3b5fe33eea816f90bc5eccd5e248 100644
--- a/arch/arm/Kconfig
+++ b/arch/arm/Kconfig
@@ -972,6 +972,17 @@ config ARM_ERRATA_764369
 	  relevant cache maintenance functions and sets a specific bit
 	  in the diagnostic control register of the SCU.
 
+config ARM_ERRATA_764319
+	bool "ARM errata: Read to DBGPRSR and DBGOSLSR may generate Undefined instruction"
+	depends on CPU_V7
+	help
+	  This option enables the workaround for the 764319 Cortex A-9 erratum.
+	  CP14 read accesses to the DBGPRSR and DBGOSLSR registers generate an
+	  unexpected Undefined Instruction exception when the DBGSWENABLE
+	  external pin is set to 0, even when the CP14 accesses are performed
+	  from a privileged mode. This work around catches the exception in a
+	  way the kernel does not stop execution.
+
 config ARM_ERRATA_775420
        bool "ARM errata: A data cache maintenance operation which aborts, might lead to deadlock"
        depends on CPU_V7
diff --git a/arch/arm/kernel/hw_breakpoint.c b/arch/arm/kernel/hw_breakpoint.c
index b1423fb130ea4a04d5192ec61beb8453b29b04af..054e9199f30db654e3fba1116b48ccf9ae7bafb6 100644
--- a/arch/arm/kernel/hw_breakpoint.c
+++ b/arch/arm/kernel/hw_breakpoint.c
@@ -941,6 +941,23 @@ static int hw_breakpoint_pending(unsigned long addr, unsigned int fsr,
 	return ret;
 }
 
+#ifdef CONFIG_ARM_ERRATA_764319
+static int oslsr_fault;
+
+static int debug_oslsr_trap(struct pt_regs *regs, unsigned int instr)
+{
+	oslsr_fault = 1;
+	instruction_pointer(regs) += 4;
+	return 0;
+}
+
+static struct undef_hook debug_oslsr_hook = {
+	.instr_mask  = 0xffffffff,
+	.instr_val = 0xee115e91,
+	.fn = debug_oslsr_trap,
+};
+#endif
+
 /*
  * One-time initialisation.
  */
@@ -974,7 +991,16 @@ static bool core_has_os_save_restore(void)
 	case ARM_DEBUG_ARCH_V7_1:
 		return true;
 	case ARM_DEBUG_ARCH_V7_ECP14:
+#ifdef CONFIG_ARM_ERRATA_764319
+		oslsr_fault = 0;
+		register_undef_hook(&debug_oslsr_hook);
 		ARM_DBG_READ(c1, c1, 4, oslsr);
+		unregister_undef_hook(&debug_oslsr_hook);
+		if (oslsr_fault)
+			return false;
+#else
+		ARM_DBG_READ(c1, c1, 4, oslsr);
+#endif
 		if (oslsr & ARM_OSLSR_OSLM0)
 			return true;
 		fallthrough;