diff --git a/Makefile b/Makefile
index 105233b62..9dc8a4220 100644
--- a/Makefile
+++ b/Makefile
@@ -100,6 +100,13 @@ else
         LOG_LEVEL	:=	20
 endif
 
+# Enable backtrace by default in DEBUG AArch64 builds
+ifeq (${ARCH},aarch32)
+        ENABLE_BACKTRACE 	:=	0
+else
+        ENABLE_BACKTRACE 	:=	${DEBUG}
+endif
+
 # Default build string (git branch and commit)
 ifeq (${BUILD_STRING},)
         BUILD_STRING	:=	$(shell git describe --always --dirty --tags 2> /dev/null)
@@ -196,6 +203,11 @@ ifneq ($(PIE_FOUND),)
 TF_CFLAGS		+=	-fno-PIE
 endif
 
+# Force the compiler to include the frame pointer
+ifeq (${ENABLE_BACKTRACE},1)
+TF_CFLAGS		+=	-fno-omit-frame-pointer
+endif
+
 TF_LDFLAGS		+=	--fatal-warnings -O1
 TF_LDFLAGS		+=	--gc-sections
 TF_LDFLAGS		+=	$(TF_LDFLAGS_$(ARCH))
@@ -223,6 +235,10 @@ ifeq ($(notdir $(CC)),armclang)
 BL_COMMON_SOURCES	+=	lib/${ARCH}/armclang_printf.S
 endif
 
+ifeq (${ENABLE_BACKTRACE},1)
+BL_COMMON_SOURCES	+=	common/backtrace.c
+endif
+
 INCLUDES		+=	-Iinclude				\
 				-Iinclude/bl1				\
 				-Iinclude/bl2				\
@@ -353,6 +369,15 @@ endif
 # Check incompatible options
 ################################################################################
 
+ifeq (${ARCH},aarch32)
+        ifeq (${ENABLE_BACKTRACE},1)
+                ifneq (${AARCH32_INSTRUCTION_SET},A32)
+                        $(error Error: AARCH32_INSTRUCTION_SET=A32 is needed \
+                        for ENABLE_BACKTRACE when compiling for AArch32.)
+                endif
+        endif
+endif
+
 ifdef EL3_PAYLOAD_BASE
         ifdef PRELOADED_BL33_BASE
                 $(warning "PRELOADED_BL33_BASE and EL3_PAYLOAD_BASE are \
@@ -559,6 +584,7 @@ $(eval $(call assert_boolean,DYN_DISABLE_AUTH))
 $(eval $(call assert_boolean,EL3_EXCEPTION_HANDLING))
 $(eval $(call assert_boolean,ENABLE_AMU))
 $(eval $(call assert_boolean,ENABLE_ASSERTIONS))
+$(eval $(call assert_boolean,ENABLE_BACKTRACE))
 $(eval $(call assert_boolean,ENABLE_MPAM_FOR_LOWER_ELS))
 $(eval $(call assert_boolean,ENABLE_PLAT_COMPAT))
 $(eval $(call assert_boolean,ENABLE_PMF))
@@ -611,6 +637,7 @@ $(eval $(call add_define,CTX_INCLUDE_FPREGS))
 $(eval $(call add_define,EL3_EXCEPTION_HANDLING))
 $(eval $(call add_define,ENABLE_AMU))
 $(eval $(call add_define,ENABLE_ASSERTIONS))
+$(eval $(call add_define,ENABLE_BACKTRACE))
 $(eval $(call add_define,ENABLE_MPAM_FOR_LOWER_ELS))
 $(eval $(call add_define,ENABLE_PLAT_COMPAT))
 $(eval $(call add_define,ENABLE_PMF))
diff --git a/common/backtrace.c b/common/backtrace.c
new file mode 100644
index 000000000..a91d06573
--- /dev/null
+++ b/common/backtrace.c
@@ -0,0 +1,256 @@
+/*
+ * Copyright (c) 2018, ARM Limited and Contributors. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <arch_helpers.h>
+#include <assert.h>
+#include <console.h>
+#include <debug.h>
+#include <stdbool.h>
+#include <stdint.h>
+
+/* Maximum number of entries in the backtrace to display */
+#define UNWIND_LIMIT	20U
+
+/*
+ * If -fno-omit-frame-pointer is used:
+ *
+ * - AArch64: The AAPCS defines the format of the frame records and mandates the
+ *   usage of r29 as frame pointer.
+ *
+ * - AArch32: The format of the frame records is not defined in the AAPCS.
+ *   However, at least GCC and Clang use the same format. When they are forced
+ *   to only generate A32 code (with -marm), they use r11 as frame pointer and a
+ *   similar format as in AArch64. If interworking with T32 is enabled, the
+ *   frame pointer is r7 and the format is  different. This is not supported by
+ *   this implementation of backtrace, so it is needed to use -marm.
+ */
+
+/* Frame records form a linked list in the stack */
+struct frame_record {
+	/* Previous frame record in the list */
+	struct frame_record *parent;
+	/* Return address of the function at this level */
+	uintptr_t return_addr;
+};
+
+static const char *get_el_str(unsigned int el)
+{
+	if (el == 3U) {
+		return "EL3";
+	} else if (el == 2U) {
+		return "EL2";
+	} else {
+		return "S-EL1";
+	}
+}
+
+/*
+ * Returns true if the address points to a virtual address that can be read at
+ * the current EL, false otherwise.
+ */
+#ifdef AARCH64
+static bool is_address_readable(uintptr_t addr)
+{
+	unsigned int el = get_current_el();
+
+	if (el == 3U) {
+		ats1e3r(addr);
+	} else if (el == 2U) {
+		ats1e2r(addr);
+	} else {
+		ats1e1r(addr);
+	}
+
+	isb();
+
+	/* If PAR.F == 1 the address translation was aborted.  */
+	if ((read_par_el1() & PAR_F_MASK) != 0U)
+		return false;
+
+	return true;
+}
+#else /* if AARCH32 */
+static bool is_address_readable(uintptr_t addr)
+{
+	unsigned int el = get_current_el();
+
+	if (el == 3U) {
+		write_ats1cpr(addr);
+	} else if (el == 2U) {
+		write_ats1hr(addr);
+	} else {
+		write_ats1cpr(addr);
+	}
+
+	isb();
+
+	/* If PAR.F == 1 the address translation was aborted.  */
+	if ((read64_par() & PAR_F_MASK) != 0U)
+		return false;
+
+	return true;
+}
+#endif
+
+/*
+ * Returns true if all the bytes in a given object are in mapped memory and an
+ * LDR using this pointer would succeed, false otherwise.
+ */
+static bool is_valid_object(uintptr_t addr, size_t size)
+{
+	assert(size > 0U);
+
+	if (addr == 0U)
+		return false;
+
+	/* Detect overflows */
+	if ((addr + size) < addr)
+		return false;
+
+	/* A pointer not aligned properly could trigger an alignment fault. */
+	if ((addr & (sizeof(uintptr_t) - 1U)) != 0U)
+		return false;
+
+	/* Check that all the object is readable */
+	for (size_t i = 0; i < size; i++) {
+		if (!is_address_readable(addr + i))
+			return false;
+	}
+
+	return true;
+}
+
+/*
+ * Returns true if the specified address is correctly aligned and points to a
+ * valid memory region.
+ */
+static bool is_valid_jump_address(uintptr_t addr)
+{
+	if (addr == 0U)
+		return false;
+
+	/* Check alignment. Both A64 and A32 use 32-bit opcodes */
+	if ((addr & (sizeof(uint32_t) - 1U)) != 0U)
+		return false;
+
+	if (!is_address_readable(addr))
+		return false;
+
+	return true;
+}
+
+/*
+ * Returns true if the pointer points at a valid frame record, false otherwise.
+ */
+static bool is_valid_frame_record(struct frame_record *fr)
+{
+	return is_valid_object((uintptr_t)fr, sizeof(struct frame_record));
+}
+
+/*
+ * Adjust the frame-pointer-register value by 4 bytes on AArch32 to have the
+ * same layout as AArch64.
+ */
+static struct frame_record *adjust_frame_record(struct frame_record *fr)
+{
+#ifdef AARCH64
+	return fr;
+#else
+	return (struct frame_record *)((uintptr_t)fr - 4U);
+#endif
+}
+
+static void unwind_stack(struct frame_record *fr, uintptr_t current_pc,
+			 uintptr_t link_register)
+{
+	uintptr_t call_site;
+	static const char *backtrace_str = "%u: %s: 0x%lx\n";
+	const char *el_str = get_el_str(get_current_el());
+
+	if (!is_valid_frame_record(fr)) {
+		printf("ERROR: Corrupted frame pointer (frame record address = %p)\n",
+		       fr);
+		return;
+	}
+
+	if (fr->return_addr != link_register) {
+		printf("ERROR: Corrupted stack (frame record address = %p)\n",
+		       fr);
+		return;
+	}
+
+	/* The level 0 of the backtrace is the current backtrace function */
+	printf(backtrace_str, 0U, el_str, current_pc);
+
+	/*
+	 * The last frame record pointer in the linked list at the beginning of
+	 * the stack should be NULL unless stack is corrupted.
+	 */
+	for (unsigned int i = 1U; i < UNWIND_LIMIT; i++) {
+		/* If an invalid frame record is found, exit. */
+		if (!is_valid_frame_record(fr))
+			return;
+		/*
+		 * A32 and A64 are fixed length so the address from where the
+		 * call was made is the instruction before the return address,
+		 * which is always 4 bytes before it.
+		 */
+		call_site = fr->return_addr - 4U;
+
+		/*
+		 * If the address is invalid it means that the frame record is
+		 * probably corrupted.
+		 */
+		if (!is_valid_jump_address(call_site))
+			return;
+
+		printf(backtrace_str, i, el_str, call_site);
+
+		fr = adjust_frame_record(fr->parent);
+	}
+
+	printf("ERROR: Max backtrace depth reached\n");
+}
+
+/*
+ * Display a backtrace. The cookie string parameter is displayed along the
+ * trace to help filter the log messages.
+ *
+ * Many things can prevent displaying the expected backtrace. For example,
+ * compiler optimizations can use a branch instead of branch with link when it
+ * detects a tail call. The backtrace level for this caller will not be
+ * displayed, as it does not appear in the call stack anymore. Also, assembly
+ * functions will not be displayed unless they setup AAPCS compliant frame
+ * records on AArch64 and compliant with GCC-specific frame record format on
+ * AArch32.
+ *
+ * Usage of the trace: addr2line can be used to map the addresses to function
+ * and source code location when given the ELF file compiled with debug
+ * information. The "-i" flag is highly recommended to improve display of
+ * inlined function. The *.dump files generated when buildidng each image can
+ * also be used.
+ *
+ * WARNING: In case of corrupted stack, this function could display security
+ * sensitive information past the beginning of the stack so it must not be used
+ * in production build. This function is only compiled in when ENABLE_BACKTRACE
+ * is set to 1.
+ */
+void backtrace(const char *cookie)
+{
+	uintptr_t return_address = (uintptr_t)__builtin_return_address(0U);
+	struct frame_record *fr = __builtin_frame_address(0U);
+
+	/* Printing the backtrace may crash the system, flush before starting */
+	(void)console_flush();
+
+	fr = adjust_frame_record(fr);
+
+	printf("BACKTRACE: START: %s\n", cookie);
+
+	unwind_stack(fr, (uintptr_t)&backtrace, return_address);
+
+	printf("BACKTRACE: END: %s\n", cookie);
+}
diff --git a/docs/user-guide.rst b/docs/user-guide.rst
index b8baf4711..5ec932f93 100644
--- a/docs/user-guide.rst
+++ b/docs/user-guide.rst
@@ -355,6 +355,16 @@ Common build options
    that is only required for the assertion and does not fit in the assertion
    itself.
 
+-  ``ENABLE_BACKTRACE``: This option controls whether to enables backtrace
+   dumps or not. It is supported in both AArch64 and AArch32. However, in
+   AArch32 the format of the frame records are not defined in the AAPCS and they
+   are defined by the implementation. This implementation of backtrace only
+   supports the format used by GCC when T32 interworking is disabled. For this
+   reason enabling this option in AArch32 will force the compiler to only
+   generate A32 code. This option is enabled by default only in AArch64 debug
+   builds, but this behaviour can be overriden in each platform's Makefile or in
+   the build command line.
+
 -  ``ENABLE_MPAM_FOR_LOWER_ELS``: Boolean option to enable lower ELs to use MPAM
    feature. MPAM is an optional Armv8.4 extension that enables various memory
    system components and resources to define partitions; software running at
diff --git a/include/common/debug.h b/include/common/debug.h
index 4c5560f5f..ee25af120 100644
--- a/include/common/debug.h
+++ b/include/common/debug.h
@@ -83,6 +83,12 @@
 # define VERBOSE(...)	no_tf_log(LOG_MARKER_VERBOSE __VA_ARGS__)
 #endif
 
+#if ENABLE_BACKTRACE
+void backtrace(const char *cookie);
+#else
+#define backtrace(x)
+#endif
+
 void __dead2 do_panic(void);
 #define panic()	do_panic()
 
diff --git a/include/lib/aarch32/arch.h b/include/lib/aarch32/arch.h
index 6f0949bb2..f9ed56e29 100644
--- a/include/lib/aarch32/arch.h
+++ b/include/lib/aarch32/arch.h
@@ -473,6 +473,8 @@
 #define CCSIDR		p15, 1, c0, c0, 0
 #define HTCR		p15, 4, c2, c0, 2
 #define HMAIR0		p15, 4, c10, c2, 0
+#define ATS1CPR		p15, 0, c7, c8, 0
+#define ATS1HR		p15, 4, c7, c8, 0
 #define DBGOSDLR	p14, 0, c1, c3, 4
 
 /* Debug register defines. The format is: coproc, opt1, CRn, CRm, opt2 */
@@ -513,6 +515,7 @@
 #define VTTBR_64	p15, 6, c2
 #define CNTPCT_64	p15, 0, c14
 #define HTTBR_64	p15, 4, c2
+#define PAR_64		p15, 0, c7
 
 /* 64 bit GICv3 CPU Interface system register defines. The format is: coproc, opt1, CRm */
 #define ICC_SGI1R_EL1_64	p15, 0, c12
@@ -569,6 +572,12 @@
 #define MAKE_MAIR_NORMAL_MEMORY(inner, outer)	\
 		((inner) | ((outer) << MAIR_NORM_OUTER_SHIFT))
 
+/* PAR fields */
+#define PAR_F_SHIFT	U(0)
+#define PAR_F_MASK	ULL(0x1)
+#define PAR_ADDR_SHIFT	U(12)
+#define PAR_ADDR_MASK	(BIT(40) - ULL(1)) /* 40-bits-wide page address */
+
 /*******************************************************************************
  * Definitions for system register interface to AMU for ARMv8.4 onwards
  ******************************************************************************/
diff --git a/include/lib/aarch32/arch_helpers.h b/include/lib/aarch32/arch_helpers.h
index 8eda5cbd0..6369a5d78 100644
--- a/include/lib/aarch32/arch_helpers.h
+++ b/include/lib/aarch32/arch_helpers.h
@@ -276,6 +276,10 @@ DEFINE_COPROCR_RW_FUNCS(hdcr, HDCR)
 DEFINE_COPROCR_RW_FUNCS(cnthp_ctl, CNTHP_CTL)
 DEFINE_COPROCR_READ_FUNC(pmcr, PMCR)
 
+DEFINE_COPROCR_RW_FUNCS(ats1cpr, ATS1CPR)
+DEFINE_COPROCR_RW_FUNCS(ats1hr, ATS1HR)
+DEFINE_COPROCR_RW_FUNCS_64(par, PAR_64)
+
 DEFINE_COPROCR_RW_FUNCS(nsacr, NSACR)
 
 /* AArch32 coproc registers for 32bit MMU descriptor support */
@@ -333,6 +337,17 @@ DEFINE_DCOP_PARAM_FUNC(cvac, DCCMVAC)
 	((GET_M32(read_cpsr()) == MODE32_mon) ||	\
 		(IS_IN_SECURE() && (GET_M32(read_cpsr()) != MODE32_usr)))
 
+static inline unsigned int get_current_el(void)
+{
+	if (IS_IN_EL3()) {
+		return 3U;
+	} else if (IS_IN_EL2()) {
+		return 2U;
+	} else {
+		return 1U;
+	}
+}
+
 /* Macros for compatibility with AArch64 system registers */
 #define read_mpidr_el1()	read_mpidr()
 
diff --git a/include/lib/aarch64/arch_helpers.h b/include/lib/aarch64/arch_helpers.h
index 067c374a6..d90061f27 100644
--- a/include/lib/aarch64/arch_helpers.h
+++ b/include/lib/aarch64/arch_helpers.h
@@ -155,7 +155,9 @@ DEFINE_SYSOP_TYPE_PARAM_FUNC(at, s12e1r)
 DEFINE_SYSOP_TYPE_PARAM_FUNC(at, s12e1w)
 DEFINE_SYSOP_TYPE_PARAM_FUNC(at, s12e0r)
 DEFINE_SYSOP_TYPE_PARAM_FUNC(at, s12e0w)
+DEFINE_SYSOP_TYPE_PARAM_FUNC(at, s1e1r)
 DEFINE_SYSOP_TYPE_PARAM_FUNC(at, s1e2r)
+DEFINE_SYSOP_TYPE_PARAM_FUNC(at, s1e3r)
 
 void flush_dcache_range(uintptr_t addr, size_t size);
 void clean_dcache_range(uintptr_t addr, size_t size);
@@ -353,6 +355,12 @@ DEFINE_RENAME_SYSREG_READ_FUNC(erxmisc1_el1, ERXMISC1_EL1)
 
 #define IS_IN_EL1() IS_IN_EL(1)
 #define IS_IN_EL3() IS_IN_EL(3)
+#define IS_IN_EL3() IS_IN_EL(3)
+
+static inline unsigned int get_current_el(void)
+{
+	return GET_EL(read_CurrentEl());
+}
 
 /*
  * Check if an EL is implemented from AA64PFR0 register fields. 'el' argument