diff --git a/cortex-m/src/coprocessor.rs b/cortex-m/src/coprocessor.rs
new file mode 100644
index 00000000..7238781e
--- /dev/null
+++ b/cortex-m/src/coprocessor.rs
@@ -0,0 +1,118 @@
+//! Coprocessor access assembly instructions.
+
+use cortex_m_macros::asm_cfg;
+
+/// This instruction moves one Register to a Coprocessor Register.
+/// This function generates inline assembly and needs the instruction configuration
+/// during compilation time (i.e. as `const`).
+/// The values of the constants required by this function should be defined by
+/// the coprocessor's reference manual.
+///  - CP: The coprocessor's index.
+///  - OP1: First optional operation for the coprocessor.
+///  - CRN: Coprocessor register N.
+///  - CRM: Coprocessor register M.
+///  - OP2: Second optional operation for the coprocessor.
+#[inline(always)]
+#[asm_cfg(any(armv7m, armv8m))]
+pub unsafe fn mcr<const CP: u32, const OP1: u32, const CRN: u32, const CRM: u32, const OP2: u32>(
+    value: u32,
+) {
+    unsafe {
+        core::arch::asm!(
+            "MCR p{cp}, #{op1}, {0}, c{crn}, c{crm}, #{op2}",
+            in(reg) value,
+            cp  = const CP,
+            op1 = const OP1,
+            crn = const CRN,
+            crm = const CRM,
+            op2 = const OP2,
+            options(nostack, nomem)
+        )
+    };
+}
+
+/// This instruction moves one Coprocessor Register to a Register.
+/// This function generates inline assembly and needs the instruction configuration
+/// during compilation time (i.e. as `const`).
+/// The values of the constants required by this function should be defined by
+/// the coprocessor's reference manual.
+///  - CP: The coprocessor's index.
+///  - OP1: First optional operation for the coprocessor.
+///  - CRN: Coprocessor register N.
+///  - CRM: Coprocessor register M.
+///  - OP2: Second optional operation for the coprocessor.
+#[inline(always)]
+#[asm_cfg(any(armv7m, armv8m))]
+pub unsafe fn mrc<const CP: u32, const OP1: u32, const CRN: u32, const CRM: u32, const OP2: u32>()
+-> u32 {
+    let a: u32;
+
+    unsafe {
+        core::arch::asm!(
+            "MRC p{cp}, #{op1}, {0}, c{crn}, c{crm}, #{op2}",
+            out(reg) a,
+            cp  = const CP,
+            op1 = const OP1,
+            crn = const CRN,
+            crm = const CRM,
+            op2 = const OP2,
+            options(nostack, nomem)
+        )
+    };
+
+    a
+}
+
+/// This instruction moves two Registers to Coprocessor Registers.
+/// This function generates inline assembly and needs the instruction configuration
+/// during compilation time (i.e. as `const`).
+/// The values of the constants required by this function should be defined by
+/// the coprocessor's reference manual.
+///  - CP: The coprocessor's index.
+///  - OP1: First optional operation for the coprocessor.
+///  - CRM: Coprocessor register M.
+#[inline(always)]
+#[asm_cfg(any(armv7m, armv8m))]
+pub unsafe fn mcrr<const CP: u32, const OP1: u32, const CRM: u32>(a: u32, b: u32) {
+    unsafe {
+        core::arch::asm!(
+            "MCRR p{cp}, #{op1}, {0}, {1}, c{crm}",
+            in(reg) a,
+            in(reg) b,
+            cp  = const CP,
+            op1 = const OP1,
+            crm = const CRM,
+            options(nostack, nomem)
+        )
+    };
+}
+
+/// This instruction moves two Coprocessor Registers to Registers.
+/// This function generates inline assembly and needs the instruction configuration
+/// during compilation time (i.e. as `const`).
+/// The values of the constants required by this function should be defined by
+/// the coprocessor's reference manual.
+///  - CP: The coprocessor's index.
+///  - OP1: First optional operation for the coprocessor.
+///  - CRM: Coprocessor register M.
+#[inline(always)]
+#[asm_cfg(any(armv7m, armv8m))]
+pub unsafe fn mrrc<const CP: u32, const OPC: u32, const CRM: u32>() -> (u32, u32) {
+    // Preallocate the values.
+    let a: u32;
+    let b: u32;
+
+    unsafe {
+        core::arch::asm!(
+            "MRRC p{cp}, #{opc}, {0}, {1}, c{crm}",
+            out(reg) a,
+            out(reg) b,
+            cp  = const CP,
+            opc = const OPC,
+            crm = const CRM,
+            options(nostack, nomem)
+        )
+    };
+
+    (a, b)
+}
diff --git a/cortex-m/src/lib.rs b/cortex-m/src/lib.rs
index caa2ecfa..f8f9407e 100644
--- a/cortex-m/src/lib.rs
+++ b/cortex-m/src/lib.rs
@@ -106,6 +106,8 @@ mod macros;
 pub mod asm;
 #[cfg(armv8m)]
 pub mod cmse;
+#[cfg(not(armv6m))]
+pub mod coprocessor;
 pub mod delay;
 pub mod interrupt;
 #[cfg(all(not(armv6m), not(armv8m_base)))]