diff --git a/include/arch/arc/v2/linker.ld b/include/arch/arc/v2/linker.ld
index 51a19b86d0b..5ff94fac209 100644
--- a/include/arch/arc/v2/linker.ld
+++ b/include/arch/arc/v2/linker.ld
@@ -71,6 +71,8 @@ SECTIONS {
 		KEEP(*(.exc_vector_table))
 		KEEP(*(".exc_vector_table.*"))
 
+		KEEP(*(.openocd_dbg))
+		KEEP(*(".openocd_dbg.*"))
 
 		KEEP(*(IRQ_VECTOR_TABLE))
 
diff --git a/include/arch/arm/cortex_m/scripts/linker.ld b/include/arch/arm/cortex_m/scripts/linker.ld
index 9d8d2561da7..8bfc57adda8 100644
--- a/include/arch/arm/cortex_m/scripts/linker.ld
+++ b/include/arch/arm/cortex_m/scripts/linker.ld
@@ -82,6 +82,9 @@ SECTIONS
 
 	KEEP(*(IRQ_VECTOR_TABLE))
 
+	KEEP(*(.openocd_dbg))
+	KEEP(*(".openocd_dbg.*"))
+
 	/* Kinetis has to write 16 bytes at 0x400 */
 	SKIP_TO_KINETIS_FLASH_CONFIG
 	KEEP(*(.kinetis_flash_config))
diff --git a/include/arch/nios2/linker.ld b/include/arch/nios2/linker.ld
index 4f75c2fc3e5..c63728da837 100644
--- a/include/arch/nios2/linker.ld
+++ b/include/arch/nios2/linker.ld
@@ -107,6 +107,8 @@ SECTIONS
         *(.text)
         *(".text.*")
         *(.gnu.linkonce.t.*)
+        KEEP(*(.openocd_dbg))
+        KEEP(*(".openocd_dbg.*"))
         } GROUP_LINK_IN(ROMABLE_REGION)
 
     _image_text_end = .;
diff --git a/include/arch/riscv32/common/linker.ld b/include/arch/riscv32/common/linker.ld
index fd248abac6d..81dd91becbd 100644
--- a/include/arch/riscv32/common/linker.ld
+++ b/include/arch/riscv32/common/linker.ld
@@ -81,6 +81,9 @@ SECTIONS
 		 /* sections for IRQ100-999 */
 		 KEEP(*(SORT(.gnu.linkonce.isr_irq[0-9][0-9][0-9])))
 
+		 KEEP(*(.openocd_debug))
+		 KEEP(*(".openocd_debug.*"))
+
 		_image_text_start = .;
 		*(.text)
 		*(".text.*")
diff --git a/include/arch/riscv32/pulpino/linker.ld b/include/arch/riscv32/pulpino/linker.ld
index 74bd69c8bfe..f0005e2e228 100644
--- a/include/arch/riscv32/pulpino/linker.ld
+++ b/include/arch/riscv32/pulpino/linker.ld
@@ -60,6 +60,9 @@ SECTIONS
 	{
 		. = ALIGN(4);
 
+		KEEP(*(.openocd_dbg))
+		KEEP(*(".openocd_dbg.*"))
+
 		_image_text_start = .;
 		*(.text)
 		*(".text.*")
diff --git a/include/arch/x86/linker.ld b/include/arch/x86/linker.ld
index 97e5bf2a79d..1427e8b517b 100644
--- a/include/arch/x86/linker.ld
+++ b/include/arch/x86/linker.ld
@@ -76,6 +76,8 @@ SECTIONS
 	*(.init)
 	*(.fini)
 	*(.eini)
+	KEEP(*(.openocd_dbg))
+	KEEP(*(".openocd_dbg.*"))
 	KEXEC_PGALIGN_PAD(MMU_PAGE_SIZE)
 	} GROUP_LINK_IN(ROMABLE_REGION)
 
diff --git a/subsys/debug/Kconfig b/subsys/debug/Kconfig
index 97b42f808f0..3f20474872d 100644
--- a/subsys/debug/Kconfig
+++ b/subsys/debug/Kconfig
@@ -115,3 +115,17 @@ config GDB_SERVER_BOOTLOADER
 	depends on GDB_SERVER
 	help
 	This option enables the bootloader mode of the GDB Server.
+
+#
+# Miscellaneous debugging options
+#
+
+config OPENOCD_SUPPORT
+	bool
+	prompt "OpenOCD support [EXPERIMENTAL]"
+	default n
+	select THREAD_MONITOR
+	help
+	  This option exports an array of offsets to kernel structs, used by
+	  OpenOCD to determine the state of running threads.  (This option
+	  selects CONFIG_THREAD_MONITOR, so all of its caveats are implied.)
diff --git a/subsys/debug/Makefile b/subsys/debug/Makefile
index f1d2873555f..4fe055e094a 100644
--- a/subsys/debug/Makefile
+++ b/subsys/debug/Makefile
@@ -4,3 +4,9 @@ CFLAGS_gdb_server.o =-I$(srctree)/include/drivers
 obj-y =
 obj-$(CONFIG_MEM_SAFE_CHECK_BOUNDARIES) += mem_safe_check_boundaries.o
 obj-$(CONFIG_GDB_SERVER) += gdb_server.o
+
+ifeq ($(CONFIG_OPENOCD_SUPPORT),y)
+lib-y += openocd.o
+ldflags-y += --undefined=_kernel_openocd_size_t_size
+ldflags-y += --undefined=_kernel_openocd_offsets
+endif
diff --git a/subsys/debug/openocd.c b/subsys/debug/openocd.c
new file mode 100644
index 00000000000..c0dbf51ae69
--- /dev/null
+++ b/subsys/debug/openocd.c
@@ -0,0 +1,67 @@
+/*
+ * Copyright (c) 2017 Intel Corporation
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <kernel_structs.h>
+
+#if defined(CONFIG_OPENOCD_SUPPORT) && defined(CONFIG_THREAD_MONITOR)
+enum {
+	OPENOCD_OFFSET_VERSION,
+	OPENOCD_OFFSET_K_CURR_THREAD,
+	OPENOCD_OFFSET_K_THREADS,
+	OPENOCD_OFFSET_T_ENTRY,
+	OPENOCD_OFFSET_T_NEXT_THREAD,
+	OPENOCD_OFFSET_T_STATE,
+	OPENOCD_OFFSET_T_USER_OPTIONS,
+	OPENOCD_OFFSET_T_PRIO,
+	OPENOCD_OFFSET_T_STACK_PTR,
+};
+
+/* Forward-compatibility notes: 1) Increment OPENOCD_OFFSET_VERSION element
+ * each time an offset is added to this table.  2) Only append items to this
+ * table; otherwise, OpenOCD versions that expects version 0 will read garbage
+ * values.
+ */
+__attribute__((used, section(".openocd_dbg")))
+size_t _kernel_openocd_offsets[] = {
+	/* Version 0 starts */
+	[OPENOCD_OFFSET_VERSION] = 0,
+	[OPENOCD_OFFSET_K_CURR_THREAD] = offsetof(struct _kernel, current),
+	[OPENOCD_OFFSET_K_THREADS] = offsetof(struct _kernel, threads),
+	[OPENOCD_OFFSET_T_ENTRY] = offsetof(struct k_thread, entry),
+	[OPENOCD_OFFSET_T_NEXT_THREAD] = offsetof(struct k_thread, next_thread),
+	[OPENOCD_OFFSET_T_STATE] = offsetof(struct _thread_base, thread_state),
+	[OPENOCD_OFFSET_T_USER_OPTIONS] = offsetof(struct _thread_base,
+						   user_options),
+	[OPENOCD_OFFSET_T_PRIO] = offsetof(struct _thread_base, prio),
+#if defined(CONFIG_ARM)
+	[OPENOCD_OFFSET_T_STACK_PTR] = offsetof(struct k_thread,
+						callee_saved.psp),
+#elif defined(CONFIG_ARC)
+	[OPENOCD_OFFSET_T_STACK_PTR] = offsetof(struct k_thread,
+						callee_saved.sp),
+#elif defined(CONFIG_X86)
+	[OPENOCD_OFFSET_T_STACK_PTR] = offsetof(struct k_thread,
+						callee_saved.esp),
+#elif defined(CONFIG_NIOS2)
+	[OPENOCD_OFFSET_T_STACK_PTR] = offsetof(struct k_thread,
+						callee_saved.sp),
+#elif defined(CONFIG_RISCV32)
+	[OPENOCD_OFFSET_T_STACK_PTR] = offsetof(struct k_thread,
+						callee_saved.sp),
+#else
+	/* Use 0xffffffff as a special value so that OpenOCD knows that
+	 * obtaining the stack pointer is not possible on this particular
+	 * architecture.
+	 */
+#warning Please define OPENOCD_OFFSET_T_STACK_PTR for this architecture
+	[OPENOCD_OFFSET_T_STACK_PTR] = 0xffffffff,
+#endif
+	/* Version 0 ends */
+};
+
+__attribute__((used, section(".openocd_dbg")))
+uint8_t _kernel_openocd_size_t_size = (uint8_t)sizeof(size_t);
+#endif