diff --git a/Kconfig b/Kconfig
index 2c3fef1530f0d..397ad247c4306 100644
--- a/Kconfig
+++ b/Kconfig
@@ -410,6 +410,12 @@ config RAW_BINARY
 		different loaders using the GNU objcopy program.  This option
 		should not be selected if you are not using the GNU toolchain.
 
+config RAW_DISASSEMBLY
+	bool "Create a disassembly file"
+	default n
+	---help---
+		Create the nuttx.asm in the disassembly format using the objdump program.
+
 menuconfig UBOOT_UIMAGE
 	bool "U-Boot uImage"
 	select RAW_BINARY
diff --git a/cmake/nuttx_generate_outputs.cmake b/cmake/nuttx_generate_outputs.cmake
index 4cc2f3036f954..4e9f6ebd38646 100644
--- a/cmake/nuttx_generate_outputs.cmake
+++ b/cmake/nuttx_generate_outputs.cmake
@@ -45,4 +45,13 @@ function(nuttx_generate_outputs target)
     add_custom_target(${target}-bin ALL DEPENDS ${target}.bin)
     file(APPEND ${CMAKE_BINARY_DIR}/nuttx.manifest "${target}.bin\n")
   endif()
+
+ if(CONFIG_RAW_DISASSEMBLY)
+    add_custom_command(
+      OUTPUT ${target}.asm
+      COMMAND ${CMAKE_OBJDUMP} -d ${target} > ${target}.asm
+      DEPENDS ${target})
+    add_custom_target(${target}-asm ALL DEPENDS ${target}.asm)
+    file(APPEND ${CMAKE_BINARY_DIR}/nuttx.manifest "${target}.asm\n")
+  endif()
 endfunction(nuttx_generate_outputs)
diff --git a/tools/Unix.mk b/tools/Unix.mk
index 0597afc6e3a87..eac201f68bc19 100644
--- a/tools/Unix.mk
+++ b/tools/Unix.mk
@@ -572,6 +572,11 @@ ifeq ($(CONFIG_UBOOT_UIMAGE),y)
 		cp -f uImage /tftpboot/uImage; \
 	fi
 	$(Q) echo "uImage" >> nuttx.manifest
+endif
+ifeq ($(CONFIG_RAW_DISASSEMBLY),y)
+	@echo "CP: nuttx.asm"
+	$(Q) $(OBJDUMP) -d $(BIN) > nuttx.asm
+	$(Q) echo nuttx.bin >> nuttx.asm
 endif
 	$(call POSTBUILD, $(TOPDIR))