diff --git a/tools/pynuttx/nxgdb/circbuf.py b/tools/pynuttx/nxgdb/circbuf.py
new file mode 100644
index 0000000000..3f0750ba4a
--- /dev/null
+++ b/tools/pynuttx/nxgdb/circbuf.py
@@ -0,0 +1,195 @@
+############################################################################
+# tools/pynuttx/nxgdb/circbuf.py
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+import argparse
+from typing import Generator
+
+import gdb
+
+from . import utils
+from .protocols import circbuf as p
+
+
+class CircBuf(utils.Value, p.CircBuf):
+    def __init__(
+        self, obj: gdb.Value | utils.Value, datatype: gdb.Type | None = None
+    ) -> None:
+        circbuf_s = utils.lookup_type("struct circbuf_s")
+        if obj.type.code == gdb.TYPE_CODE_INT:
+            obj = obj.cast(circbuf_s.pointer())
+
+        if obj.type.code == gdb.TYPE_CODE_PTR:
+            obj.cast(circbuf_s.pointer())
+            obj = obj.dereference()
+
+        super().__init__(obj)
+
+        # datatype must not be a pointer, because we are going to construct value from memory
+        if not datatype:
+            datatype = utils.lookup_type("char")
+
+        if isinstance(datatype, str):
+            datatype = utils.lookup_type(datatype)
+
+        if datatype.code == gdb.TYPE_CODE_PTR:
+            datatype = datatype.target()
+
+        self.datatype = datatype
+
+    def __str__(self) -> str:
+        return (
+            f"(struct circbuf_s *){hex(self.address)} base: {self.base} "
+            f"size: {self.size} head: {self.head} tail: {self.tail}"
+        )
+
+    @property
+    def size(self) -> int:
+        return int(self["size"])
+
+    @property
+    def used(self) -> int:
+        return int(self["head"]) - int(self["tail"])
+
+    @property
+    def space(self) -> int:
+        return self.size - self.used
+
+    @property
+    def is_inited(self) -> bool:
+        return bool(self["base"])
+
+    @property
+    def is_empty(self) -> bool:
+        return self.used == 0
+
+    @property
+    def is_full(self) -> bool:
+        return not self.space
+
+    def _peekat(self, pos, len) -> memoryview:
+        if len > self.size:
+            return None
+
+        pos = pos % self.size
+        total = len
+        if pos + len > self.size:
+            len = self.size - pos
+
+        memory = gdb.selected_inferior().read_memory(self.base + pos, len)
+        if len < total:
+            memory += gdb.selected_inferior().read_memory(self.base, total - len)
+        return memory
+
+    @property
+    def history(self) -> Generator[utils.Value, None, None]:
+        """Iterate over the history data in the circbuf_s, from oldest to newest"""
+        if not self.base or not self.size:
+            # Uninitialized buffer
+            return []
+
+        head = int(self.head)
+        size = int(self.size)
+        sizeof = self.datatype.sizeof
+
+        if head < size:
+            # The buffer is never wrapped, read from the beginning
+            offset = 0
+            end = head
+        else:
+            # The buffer is wrapped, read from the head
+            offset = head % size
+            end = offset + size
+
+        while offset < end:
+            memory = self._peekat(offset, sizeof)
+            value = gdb.Value(memory, self.datatype)
+            yield value
+            offset += sizeof
+
+    @property
+    def unread(self) -> Generator[utils.Value, None, None]:
+        """Return all unread data in circle buffer"""
+        if not self.base or not self.size:
+            return []
+
+        # Read from tail towards head for all data.
+        tail = int(self.tail)
+        head = int(self.head)
+        sizeof = self.datatype.sizeof
+        offset = tail
+        while offset < head:
+            memory = self._peekat(offset, sizeof)
+            yield gdb.Value(memory, self.datatype)
+            offset += sizeof
+
+
+class CircBufInfo(gdb.Command):
+    """Print circbuf_s information"""
+
+    def __init__(self):
+        super().__init__("circbuf", gdb.COMMAND_USER)
+
+    def invoke(self, arg: str, from_tty: bool) -> None:
+        parser = argparse.ArgumentParser(description="Dump circle buffer information")
+        parser.add_argument(
+            "--type",
+            type=str,
+            help="The data type the circbuf_s contains",
+            default=None,
+        )
+        parser.add_argument(
+            "--history",
+            action="store_true",
+            help="Dump the history data in the circbuf_s",
+        )
+        parser.add_argument(
+            "--unread",
+            action="store_true",
+            help="Dump the unread data in the circbuf_s",
+        )
+        parser.add_argument(
+            "address",
+            type=str,
+            help="The address of the circubuf_s",
+        )
+
+        try:
+            args = parser.parse_args(gdb.string_to_argv(arg))
+        except SystemExit:
+            gdb.write("Invalid arguments\n")
+            return
+
+        entry = utils.parse_and_eval(args.address)
+        circbuf = CircBuf(entry, datatype=args.type)
+
+        print(circbuf)  # Dump buffer basic information
+
+        if args.history:
+            dumpdata = circbuf.history
+        elif args.unread:
+            dumpdata = circbuf.unread
+        else:
+            dumpdata = []
+
+        print(f"Dumping data with type {args.type}")
+        for i, data in enumerate(dumpdata):
+            print(f"{i}: {data.format_string(styling=True)}")
diff --git a/tools/pynuttx/nxgdb/protocols/circbuf.py b/tools/pynuttx/nxgdb/protocols/circbuf.py
new file mode 100644
index 0000000000..85b3b68819
--- /dev/null
+++ b/tools/pynuttx/nxgdb/protocols/circbuf.py
@@ -0,0 +1,35 @@
+############################################################################
+# tools/pynuttx/nxgdb/protocols/circbuf.py
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+from __future__ import annotations
+
+from .value import Value
+
+
+class CircBuf(Value):
+    """struct circbuf_s"""
+
+    base: Value
+    size: Value
+    head: Value
+    tail: Value
+    external: Value
diff --git a/tools/pynuttx/nxgdb/protocols/uorb.py b/tools/pynuttx/nxgdb/protocols/uorb.py
new file mode 100644
index 0000000000..49740a6e7e
--- /dev/null
+++ b/tools/pynuttx/nxgdb/protocols/uorb.py
@@ -0,0 +1,103 @@
+############################################################################
+# tools/pynuttx/nxgdb/protocols/uorb.py
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+from __future__ import annotations
+
+from .value import Value
+
+
+class OrbMetadata(Value):
+    """struct orb_metadata_s"""
+
+    o_name: Value
+    o_size: Value
+    o_format: Value
+
+
+class SensorMeta(Value):
+    """struct sensor_meta_s"""
+
+    esize: Value
+    name: Value
+
+
+class SensorState(Value):
+    """struct sensor_state_s"""
+
+    esize: Value
+    nbuffer: Value
+    min_latency: Value
+    min_interval: Value
+    nsubscribers: Value
+    nadvertisers: Value
+    generation: Value
+    priv: Value
+
+
+class SensorUState(Value):
+    """struct sensor_ustate_s"""
+
+    esize: Value
+    latency: Value
+    interval: Value
+    generation: Value
+
+
+class SensorUpper(Value):
+    """struct sensor_upperhalf_s"""
+
+    lower: Value
+    state: SensorState
+    timing: Value
+    buffer: Value
+    lock: Value
+    userlist: Value
+
+
+class SensorLower(Value):
+    """struct sensor_lowerhalf_s"""
+
+    type: Value
+    nbuffer: Value
+    uncalibrated: Value
+    ops: Value
+    push_event: Value
+    notify_event: Value
+
+    sensor_lock: Value
+    sensor_unlock: Value
+    priv: Value
+    persist: Value
+
+
+class SensorUser(Value):
+    """struct sensor_user_s"""
+
+    node: Value
+    fds: Value
+    role: Value
+    changed: Value
+    event: Value
+    flushing: Value
+    buffersem: Value
+    bufferpos: Value
+    state: SensorUState
diff --git a/tools/pynuttx/nxgdb/uorb.py b/tools/pynuttx/nxgdb/uorb.py
new file mode 100644
index 0000000000..3e0c611edb
--- /dev/null
+++ b/tools/pynuttx/nxgdb/uorb.py
@@ -0,0 +1,158 @@
+############################################################################
+# tools/pynuttx/nxgdb/uorb.py
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+from __future__ import annotations
+
+import argparse
+import re
+from typing import List
+
+import gdb
+
+from . import fs, utils
+from .circbuf import CircBuf
+from .protocols import uorb as p
+
+
+class Sensor(utils.Value, p.SensorUpper):
+    """struct sensor_upperhalf_s and enhancement"""
+
+    inode_s = utils.lookup_type("struct inode")
+    sensor_upperhalf_s = utils.lookup_type("struct sensor_upperhalf_s")
+
+    def __init__(self, inode: gdb.Value | utils.Value, path=None):
+        # inode must be type of struct inode *
+        if inode.type.code != gdb.TYPE_CODE_PTR:
+            raise ValueError(f"Expect pointer type, got {inode.type}")
+
+        super().__init__(inode["i_private"].cast(self.sensor_upperhalf_s.pointer()))
+        self.inode = inode
+        self._path = path
+
+    def __repr__(self) -> str:
+        state = self.state
+        return f"{hex(self)} {self.topicname} {state.nsubscribers} subscribers, {state.nadvertisers} advertisers"
+
+    def details(self) -> str:
+        state = self.state
+        return f"nbuffer: {state.nbuffer}, latency: {state.min_latency}, interval: {state.min_interval}"
+
+    def __str__(self) -> str:
+        return self.__repr__()
+
+    @property
+    def path(self):
+        return self._path or fs.inode_getpath(self.inode)
+
+    @property
+    def nsubscribers(self) -> int:
+        return int(self.state["nsubscribers"])
+
+    @property
+    def nadvertisers(self) -> int:
+        return int(self.state["nadvertisers"])
+
+    @property
+    def topicname(self):
+        name = self.path.split("/")[-1]
+        name = re.sub(r"(\d$)", "", name)
+        name = re.sub(r"(_uncal$)", "", name)
+        return name
+
+    @property
+    def metadata(self) -> p.OrbMetadata:
+        return utils.gdb_eval_or_none(f"g_orb_{self.topicname}")
+
+    @property
+    def datatype(self) -> gdb.Type:
+        """Return the datatype of the topic like struct sensor_accel"""
+        return utils.lookup_type(f"struct {self.topicname}")
+
+    @property
+    def circbuf(self) -> CircBuf:
+        if not self.datatype:
+            return None
+        return CircBuf(self.buffer, datatype=self.datatype.pointer())
+
+
+def get_topic_inodes(topic: str = None) -> List[fs.Inode]:
+    nodes = (
+        (node, path)
+        for node, path in fs.foreach_inode()
+        if path.startswith("/dev/uorb/") and (not topic or topic in path)
+    )
+    return nodes
+
+
+def get_topics(topic: str = None) -> List[Sensor]:
+    nodes = get_topic_inodes(topic)
+    return (Sensor(node, path=path) for node, path in nodes)
+
+
+class uORBDump(gdb.Command):
+    """Dump uORB topics"""
+
+    formatter = "{:<20} {:<24} {:<6} {:<6} {:<6} {:<6} {:<12} {:<12} {:<20}"
+    header = (
+        "Address",
+        "Topic",
+        "Subs",
+        "Ads",
+        "esize",
+        "nbuf",
+        "latency",
+        "interval",
+        "Circbuf",
+    )
+
+    def __init__(self):
+        super().__init__("uorb", gdb.COMMAND_USER)
+
+    def invoke(self, arg: str, from_tty: bool) -> None:
+        parser = argparse.ArgumentParser(description=self.__doc__)
+        parser.add_argument(
+            "--topic",
+            type=str,
+            help="The topic name to dump, e.g. 'sensor_accel'",
+            default=None,
+        )
+
+        try:
+            args = parser.parse_args(gdb.string_to_argv(arg))
+        except SystemExit:
+            return
+
+        print(self.formatter.format(*self.header))
+        for topic in get_topics(topic=args.topic):
+            print(
+                self.formatter.format(
+                    hex(topic),
+                    topic.topicname,
+                    topic.nsubscribers,
+                    topic.nadvertisers,
+                    topic.state.esize,
+                    topic.state.nbuffer,
+                    topic.state.min_latency,
+                    topic.state.min_interval,
+                    hex(topic.buffer.address),
+                )
+            )