diff --git a/tools/perf/util/cs-etm-decoder/cs-etm-decoder.c b/tools/perf/util/cs-etm-decoder/cs-etm-decoder.c
index b01d363b9301d9b5b430d0c85dc64e086a482182..3e1a05bc82cc61929aae536a528c0aa1c659e2ea 100644
--- a/tools/perf/util/cs-etm-decoder/cs-etm-decoder.c
+++ b/tools/perf/util/cs-etm-decoder/cs-etm-decoder.c
@@ -6,6 +6,7 @@
  * Author: Mathieu Poirier <mathieu.poirier@linaro.org>
  */
 
+#include <asm/bug.h>
 #include <linux/coresight-pmu.h>
 #include <linux/err.h>
 #include <linux/list.h>
@@ -17,6 +18,7 @@
 
 #include "cs-etm.h"
 #include "cs-etm-decoder.h"
+#include "debug.h"
 #include "intlist.h"
 
 /* use raw logging */
@@ -294,7 +296,8 @@ cs_etm_decoder__do_soft_timestamp(struct cs_etm_queue *etmq,
 static ocsd_datapath_resp_t
 cs_etm_decoder__do_hard_timestamp(struct cs_etm_queue *etmq,
 				  const ocsd_generic_trace_elem *elem,
-				  const uint8_t trace_chan_id)
+				  const uint8_t trace_chan_id,
+				  const ocsd_trc_index_t indx)
 {
 	struct cs_etm_packet_queue *packet_queue;
 
@@ -313,14 +316,33 @@ cs_etm_decoder__do_hard_timestamp(struct cs_etm_queue *etmq,
 		return OCSD_RESP_CONT;
 	}
 
-	/*
-	 * This is the first timestamp we've seen since the beginning of traces
-	 * or a discontinuity.  Since timestamps packets are generated *after*
-	 * range packets have been generated, we need to estimate the time at
-	 * which instructions started by subtracting the number of instructions
-	 * executed to the timestamp.
-	 */
-	packet_queue->cs_timestamp = elem->timestamp - packet_queue->instr_count;
+
+	if (!elem->timestamp) {
+		/*
+		 * Zero timestamps can be seen due to misconfiguration or hardware bugs.
+		 * Warn once, and don't try to subtract instr_count as it would result in an
+		 * underflow.
+		 */
+		packet_queue->cs_timestamp = 0;
+		WARN_ONCE(true, "Zero Coresight timestamp found at Idx:%" OCSD_TRC_IDX_STR
+				". Decoding may be improved with --itrace=Z...\n", indx);
+	} else if (packet_queue->instr_count > elem->timestamp) {
+		/*
+		 * Sanity check that the elem->timestamp - packet_queue->instr_count would not
+		 * result in an underflow. Warn and clamp at 0 if it would.
+		 */
+		packet_queue->cs_timestamp = 0;
+		pr_err("Timestamp calculation underflow at Idx:%" OCSD_TRC_IDX_STR "\n", indx);
+	} else {
+		/*
+		 * This is the first timestamp we've seen since the beginning of traces
+		 * or a discontinuity.  Since timestamps packets are generated *after*
+		 * range packets have been generated, we need to estimate the time at
+		 * which instructions started by subtracting the number of instructions
+		 * executed to the timestamp.
+		 */
+		packet_queue->cs_timestamp = elem->timestamp - packet_queue->instr_count;
+	}
 	packet_queue->next_cs_timestamp = elem->timestamp;
 	packet_queue->instr_count = 0;
 
@@ -542,7 +564,7 @@ cs_etm_decoder__set_tid(struct cs_etm_queue *etmq,
 
 static ocsd_datapath_resp_t cs_etm_decoder__gen_trace_elem_printer(
 				const void *context,
-				const ocsd_trc_index_t indx __maybe_unused,
+				const ocsd_trc_index_t indx,
 				const u8 trace_chan_id __maybe_unused,
 				const ocsd_generic_trace_elem *elem)
 {
@@ -579,7 +601,8 @@ static ocsd_datapath_resp_t cs_etm_decoder__gen_trace_elem_printer(
 		break;
 	case OCSD_GEN_TRC_ELEM_TIMESTAMP:
 		resp = cs_etm_decoder__do_hard_timestamp(etmq, elem,
-							 trace_chan_id);
+							 trace_chan_id,
+							 indx);
 		break;
 	case OCSD_GEN_TRC_ELEM_PE_CONTEXT:
 		resp = cs_etm_decoder__set_tid(etmq, packet_queue,