Since QEMU 3.0 the QEMU gdb stub supports read-only access to most
cp14/cp15 registers. The gdb 'info all-registers' command will print all
the registers (integer, fp and system registers), or individual
registers can be read with commands like "print /x $SCTLR".

Write access isn't supported (that is a lot trickier to do in a reliable
way since QEMU's internals make assumptions that system registers can
only be changed in the ways that the guest validly can, and there's no
easy API to connect to the debug stub that would allow the user to
change system registers in only safe ways).

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https://bugs.launchpad.net/bugs/741115

Title:
  Add support of coprocessor cp15, cp14 registers exposion in the
  embedded gdb server

Status in QEMU:
  New

Bug description:
  Please add support of exposion of ARM coprocesor registers/logic at the 
embedded gdb server,
   for example of cp15, cp14, etc registers.

  Related project http://jtagarmgdbsrvr.sourceforge.net/index.html

  Also filled bug in the GDB
  http://sourceware.org/bugzilla/show_bug.cgi?id=12602

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