diff --git a/configs/targets/aarch64-softmmu.mak b/configs/targets/aarch64-softmmu.mak
index 7703127674..13d40b55e6 100644
--- a/configs/targets/aarch64-softmmu.mak
+++ b/configs/targets/aarch64-softmmu.mak
@@ -1,5 +1,5 @@
 TARGET_ARCH=aarch64
 TARGET_BASE_ARCH=arm
 TARGET_SUPPORTS_MTTCG=y
-TARGET_XML_FILES= gdb-xml/aarch64-core.xml gdb-xml/aarch64-fpu.xml gdb-xml/arm-core.xml gdb-xml/arm-vfp.xml gdb-xml/arm-vfp3.xml gdb-xml/arm-neon.xml gdb-xml/arm-m-profile.xml
+TARGET_XML_FILES= gdb-xml/aarch64-core.xml gdb-xml/aarch64-fpu.xml gdb-xml/arm-core.xml gdb-xml/arm-vfp.xml gdb-xml/arm-vfp3.xml gdb-xml/arm-vfp-sysregs.xml gdb-xml/arm-neon.xml gdb-xml/arm-m-profile.xml
 TARGET_NEED_FDT=y
diff --git a/configs/targets/arm-linux-user.mak b/configs/targets/arm-linux-user.mak
index e741ffd4d3..acecc339e3 100644
--- a/configs/targets/arm-linux-user.mak
+++ b/configs/targets/arm-linux-user.mak
@@ -1,6 +1,6 @@
 TARGET_ARCH=arm
 TARGET_SYSTBL_ABI=common,oabi
 TARGET_SYSTBL=syscall.tbl
-TARGET_XML_FILES= gdb-xml/arm-core.xml gdb-xml/arm-vfp.xml gdb-xml/arm-vfp3.xml gdb-xml/arm-neon.xml gdb-xml/arm-m-profile.xml
+TARGET_XML_FILES= gdb-xml/arm-core.xml gdb-xml/arm-vfp.xml gdb-xml/arm-vfp3.xml gdb-xml/arm-vfp-sysregs.xml gdb-xml/arm-neon.xml gdb-xml/arm-m-profile.xml
 TARGET_HAS_BFLT=y
 CONFIG_ARM_COMPATIBLE_SEMIHOSTING=y
diff --git a/configs/targets/arm-softmmu.mak b/configs/targets/arm-softmmu.mak
index 84a98f4818..f6c95ba07a 100644
--- a/configs/targets/arm-softmmu.mak
+++ b/configs/targets/arm-softmmu.mak
@@ -1,4 +1,4 @@
 TARGET_ARCH=arm
 TARGET_SUPPORTS_MTTCG=y
-TARGET_XML_FILES= gdb-xml/arm-core.xml gdb-xml/arm-vfp.xml gdb-xml/arm-vfp3.xml gdb-xml/arm-neon.xml gdb-xml/arm-m-profile.xml
+TARGET_XML_FILES= gdb-xml/arm-core.xml gdb-xml/arm-vfp.xml gdb-xml/arm-vfp3.xml gdb-xml/arm-vfp-sysregs.xml gdb-xml/arm-neon.xml gdb-xml/arm-m-profile.xml
 TARGET_NEED_FDT=y
diff --git a/configs/targets/armeb-linux-user.mak b/configs/targets/armeb-linux-user.mak
index 255e44e8b0..662c73d8fb 100644
--- a/configs/targets/armeb-linux-user.mak
+++ b/configs/targets/armeb-linux-user.mak
@@ -2,6 +2,6 @@ TARGET_ARCH=arm
 TARGET_SYSTBL_ABI=common,oabi
 TARGET_SYSTBL=syscall.tbl
 TARGET_WORDS_BIGENDIAN=y
-TARGET_XML_FILES= gdb-xml/arm-core.xml gdb-xml/arm-vfp.xml gdb-xml/arm-vfp3.xml gdb-xml/arm-neon.xml gdb-xml/arm-m-profile.xml
+TARGET_XML_FILES= gdb-xml/arm-core.xml gdb-xml/arm-vfp.xml gdb-xml/arm-vfp3.xml gdb-xml/arm-vfp-sysregs.xml gdb-xml/arm-neon.xml gdb-xml/arm-m-profile.xml
 TARGET_HAS_BFLT=y
 CONFIG_ARM_COMPATIBLE_SEMIHOSTING=y
diff --git a/gdb-xml/arm-neon.xml b/gdb-xml/arm-neon.xml
index ce3ee03ec4..9dce0a996f 100644
--- a/gdb-xml/arm-neon.xml
+++ b/gdb-xml/arm-neon.xml
@@ -82,7 +82,5 @@
   <reg name="q14" bitsize="128" type="neon_q"/>
   <reg name="q15" bitsize="128" type="neon_q"/>
 
-  <reg name="fpsid" bitsize="32" type="int" group="float"/>
   <reg name="fpscr" bitsize="32" type="int" group="float"/>
-  <reg name="fpexc" bitsize="32" type="int" group="float"/>
 </feature>
diff --git a/gdb-xml/arm-vfp-sysregs.xml b/gdb-xml/arm-vfp-sysregs.xml
new file mode 100644
index 0000000000..c4aa2721c8
--- /dev/null
+++ b/gdb-xml/arm-vfp-sysregs.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<!-- Copyright (C) 2021 Linaro Ltd.
+
+     Copying and distribution of this file, with or without modification,
+     are permitted in any medium without royalty provided the copyright
+     notice and this notice are preserved.
+
+     These are A/R profile VFP system registers. Debugger users probably
+     don't really care about these, but because we used to (incorrectly)
+     provide them to gdb in the org.gnu.gdb.arm.vfp XML we continue
+     to do so via this separate XML.
+     -->
+<!DOCTYPE feature SYSTEM "gdb-target.dtd">
+<feature name="org.qemu.gdb.arm.vfp-sysregs">
+  <reg name="fpsid" bitsize="32" type="int" group="float"/>
+  <reg name="fpexc" bitsize="32" type="int" group="float"/>
+</feature>
diff --git a/gdb-xml/arm-vfp.xml b/gdb-xml/arm-vfp.xml
index b20881e9a9..ebed5b3d57 100644
--- a/gdb-xml/arm-vfp.xml
+++ b/gdb-xml/arm-vfp.xml
@@ -23,7 +23,5 @@
   <reg name="d14" bitsize="64" type="float"/>
   <reg name="d15" bitsize="64" type="float"/>
 
-  <reg name="fpsid" bitsize="32" type="int" group="float"/>
   <reg name="fpscr" bitsize="32" type="int" group="float"/>
-  <reg name="fpexc" bitsize="32" type="int" group="float"/>
 </feature>
diff --git a/gdb-xml/arm-vfp3.xml b/gdb-xml/arm-vfp3.xml
index 227afd8017..ef391c7144 100644
--- a/gdb-xml/arm-vfp3.xml
+++ b/gdb-xml/arm-vfp3.xml
@@ -39,7 +39,5 @@
   <reg name="d30" bitsize="64" type="float"/>
   <reg name="d31" bitsize="64" type="float"/>
 
-  <reg name="fpsid" bitsize="32" type="int" group="float"/>
   <reg name="fpscr" bitsize="32" type="int" group="float"/>
-  <reg name="fpexc" bitsize="32" type="int" group="float"/>
 </feature>
diff --git a/target/arm/gdbstub.c b/target/arm/gdbstub.c
index cbf156d192..e0dcb33e32 100644
--- a/target/arm/gdbstub.c
+++ b/target/arm/gdbstub.c
@@ -144,11 +144,7 @@ static int vfp_gdb_get_reg(CPUARMState *env, GByteArray *buf, int reg)
     }
     switch (reg - nregs) {
     case 0:
-        return gdb_get_reg32(buf, env->vfp.xregs[ARM_VFP_FPSID]);
-    case 1:
         return gdb_get_reg32(buf, vfp_get_fpscr(env));
-    case 2:
-        return gdb_get_reg32(buf, env->vfp.xregs[ARM_VFP_FPEXC]);
     }
     return 0;
 }
@@ -172,13 +168,31 @@ static int vfp_gdb_set_reg(CPUARMState *env, uint8_t *buf, int reg)
         }
     }
     switch (reg - nregs) {
+    case 0:
+        vfp_set_fpscr(env, ldl_p(buf));
+        return 4;
+    }
+    return 0;
+}
+
+static int vfp_gdb_get_sysreg(CPUARMState *env, GByteArray *buf, int reg)
+{
+    switch (reg) {
+    case 0:
+        return gdb_get_reg32(buf, env->vfp.xregs[ARM_VFP_FPSID]);
+    case 1:
+        return gdb_get_reg32(buf, env->vfp.xregs[ARM_VFP_FPEXC]);
+    }
+    return 0;
+}
+
+static int vfp_gdb_set_sysreg(CPUARMState *env, uint8_t *buf, int reg)
+{
+    switch (reg) {
     case 0:
         env->vfp.xregs[ARM_VFP_FPSID] = ldl_p(buf);
         return 4;
     case 1:
-        vfp_set_fpscr(env, ldl_p(buf));
-        return 4;
-    case 2:
         env->vfp.xregs[ARM_VFP_FPEXC] = ldl_p(buf) & (1 << 30);
         return 4;
     }
@@ -434,15 +448,25 @@ void arm_cpu_register_gdb_regs_for_features(ARMCPU *cpu)
                                      34, "aarch64-fpu.xml", 0);
         }
 #endif
-    } else if (arm_feature(env, ARM_FEATURE_NEON)) {
-        gdb_register_coprocessor(cs, vfp_gdb_get_reg, vfp_gdb_set_reg,
-                                 51, "arm-neon.xml", 0);
-    } else if (cpu_isar_feature(aa32_simd_r32, cpu)) {
-        gdb_register_coprocessor(cs, vfp_gdb_get_reg, vfp_gdb_set_reg,
-                                 35, "arm-vfp3.xml", 0);
-    } else if (cpu_isar_feature(aa32_vfp_simd, cpu)) {
-        gdb_register_coprocessor(cs, vfp_gdb_get_reg, vfp_gdb_set_reg,
-                                 19, "arm-vfp.xml", 0);
+    } else {
+        if (arm_feature(env, ARM_FEATURE_NEON)) {
+            gdb_register_coprocessor(cs, vfp_gdb_get_reg, vfp_gdb_set_reg,
+                                     49, "arm-neon.xml", 0);
+        } else if (cpu_isar_feature(aa32_simd_r32, cpu)) {
+            gdb_register_coprocessor(cs, vfp_gdb_get_reg, vfp_gdb_set_reg,
+                                     33, "arm-vfp3.xml", 0);
+        } else if (cpu_isar_feature(aa32_vfp_simd, cpu)) {
+            gdb_register_coprocessor(cs, vfp_gdb_get_reg, vfp_gdb_set_reg,
+                                     17, "arm-vfp.xml", 0);
+        }
+        if (!arm_feature(env, ARM_FEATURE_M)) {
+            /*
+             * A and R profile have FP sysregs FPEXC and FPSID that we
+             * expose to gdb.
+             */
+            gdb_register_coprocessor(cs, vfp_gdb_get_sysreg, vfp_gdb_set_sysreg,
+                                     2, "arm-vfp-sysregs.xml", 0);
+        }
     }
     gdb_register_coprocessor(cs, arm_gdb_get_sysreg, arm_gdb_set_sysreg,
                              arm_gen_dynamic_sysreg_xml(cs, cs->gdb_num_regs),