diff --git a/tools/lib/bpf/usdt.c b/tools/lib/bpf/usdt.c
index 781aa1d128f1..f1670e3014ed 100644
--- a/tools/lib/bpf/usdt.c
+++ b/tools/lib/bpf/usdt.c
@@ -183,10 +183,56 @@
  * gain.
  */
 
+#define USDT_BASE_SEC ".stapsdt.base"
+#define USDT_SEMA_SEC ".probes"
+#define USDT_NOTE_SEC  ".note.stapsdt"
+#define USDT_NOTE_TYPE 3
+#define USDT_NOTE_NAME "stapsdt"
+
+/* should match exactly enum __bpf_usdt_arg_type from bpf_usdt.bpf.h */
+enum usdt_arg_type {
+	USDT_ARG_CONST,
+	USDT_ARG_REG,
+	USDT_ARG_REG_DEREF,
+};
+
+/* should match exactly struct __bpf_usdt_arg_spec from bpf_usdt.bpf.h */
+struct usdt_arg_spec {
+	__u64 val_off;
+	enum usdt_arg_type arg_type;
+	short reg_off;
+	bool arg_signed;
+	char arg_bitshift;
+};
+
+/* should match BPF_USDT_MAX_ARG_CNT in usdt.bpf.h */
+#define USDT_MAX_ARG_CNT 12
+
+/* should match struct __bpf_usdt_spec from usdt.bpf.h */
+struct usdt_spec {
+	struct usdt_arg_spec args[USDT_MAX_ARG_CNT];
+	__u64 usdt_cookie;
+	short arg_cnt;
+};
+
+struct usdt_note {
+	const char *provider;
+	const char *name;
+	/* USDT args specification string, e.g.:
+	 * "-4@%esi -4@-24(%rbp) -4@%ecx 2@%ax 8@%rdx"
+	 */
+	const char *args;
+	long loc_addr;
+	long base_addr;
+	long sema_addr;
+};
+
 struct usdt_target {
 	long abs_ip;
 	long rel_ip;
 	long sema_off;
+	struct usdt_spec spec;
+	const char *spec_str;
 };
 
 struct usdt_manager {
@@ -292,11 +338,450 @@ static int sanity_check_usdt_elf(Elf *elf, const char *path)
 	return 0;
 }
 
+static int find_elf_sec_by_name(Elf *elf, const char *sec_name, GElf_Shdr *shdr, Elf_Scn **scn)
+{
+	Elf_Scn *sec = NULL;
+	size_t shstrndx;
+
+	if (elf_getshdrstrndx(elf, &shstrndx))
+		return -EINVAL;
+
+	/* check if ELF is corrupted and avoid calling elf_strptr if yes */
+	if (!elf_rawdata(elf_getscn(elf, shstrndx), NULL))
+		return -EINVAL;
+
+	while ((sec = elf_nextscn(elf, sec)) != NULL) {
+		char *name;
+
+		if (!gelf_getshdr(sec, shdr))
+			return -EINVAL;
+
+		name = elf_strptr(elf, shstrndx, shdr->sh_name);
+		if (name && strcmp(sec_name, name) == 0) {
+			*scn = sec;
+			return 0;
+		}
+	}
+
+	return -ENOENT;
+}
+
+struct elf_seg {
+	long start;
+	long end;
+	long offset;
+	bool is_exec;
+};
+
+static int cmp_elf_segs(const void *_a, const void *_b)
+{
+	const struct elf_seg *a = _a;
+	const struct elf_seg *b = _b;
+
+	return a->start < b->start ? -1 : 1;
+}
+
+static int parse_elf_segs(Elf *elf, const char *path, struct elf_seg **segs, size_t *seg_cnt)
+{
+	GElf_Phdr phdr;
+	size_t n;
+	int i, err;
+	struct elf_seg *seg;
+	void *tmp;
+
+	*seg_cnt = 0;
+
+	if (elf_getphdrnum(elf, &n)) {
+		err = -errno;
+		return err;
+	}
+
+	for (i = 0; i < n; i++) {
+		if (!gelf_getphdr(elf, i, &phdr)) {
+			err = -errno;
+			return err;
+		}
+
+		pr_debug("usdt: discovered PHDR #%d in '%s': vaddr 0x%lx memsz 0x%lx offset 0x%lx type 0x%lx flags 0x%lx\n",
+			 i, path, (long)phdr.p_vaddr, (long)phdr.p_memsz, (long)phdr.p_offset,
+			 (long)phdr.p_type, (long)phdr.p_flags);
+		if (phdr.p_type != PT_LOAD)
+			continue;
+
+		tmp = libbpf_reallocarray(*segs, *seg_cnt + 1, sizeof(**segs));
+		if (!tmp)
+			return -ENOMEM;
+
+		*segs = tmp;
+		seg = *segs + *seg_cnt;
+		(*seg_cnt)++;
+
+		seg->start = phdr.p_vaddr;
+		seg->end = phdr.p_vaddr + phdr.p_memsz;
+		seg->offset = phdr.p_offset;
+		seg->is_exec = phdr.p_flags & PF_X;
+	}
+
+	if (*seg_cnt == 0) {
+		pr_warn("usdt: failed to find PT_LOAD program headers in '%s'\n", path);
+		return -ESRCH;
+	}
+
+	qsort(*segs, *seg_cnt, sizeof(**segs), cmp_elf_segs);
+	return 0;
+}
+
+static int parse_lib_segs(int pid, const char *lib_path, struct elf_seg **segs, size_t *seg_cnt)
+{
+	char path[PATH_MAX], line[PATH_MAX], mode[16];
+	size_t seg_start, seg_end, seg_off;
+	struct elf_seg *seg;
+	int tmp_pid, i, err;
+	FILE *f;
+
+	*seg_cnt = 0;
+
+	/* Handle containerized binaries only accessible from
+	 * /proc/<pid>/root/<path>. They will be reported as just /<path> in
+	 * /proc/<pid>/maps.
+	 */
+	if (sscanf(lib_path, "/proc/%d/root%s", &tmp_pid, path) == 2 && pid == tmp_pid)
+		goto proceed;
+
+	if (!realpath(lib_path, path)) {
+		pr_warn("usdt: failed to get absolute path of '%s' (err %d), using path as is...\n",
+			lib_path, -errno);
+		strcpy(path, lib_path);
+	}
+
+proceed:
+	sprintf(line, "/proc/%d/maps", pid);
+	f = fopen(line, "r");
+	if (!f) {
+		err = -errno;
+		pr_warn("usdt: failed to open '%s' to get base addr of '%s': %d\n",
+			line, lib_path, err);
+		return err;
+	}
+
+	/* We need to handle lines with no path at the end:
+	 *
+	 * 7f5c6f5d1000-7f5c6f5d3000 rw-p 001c7000 08:04 21238613      /usr/lib64/libc-2.17.so
+	 * 7f5c6f5d3000-7f5c6f5d8000 rw-p 00000000 00:00 0
+	 * 7f5c6f5d8000-7f5c6f5d9000 r-xp 00000000 103:01 362990598    /data/users/andriin/linux/tools/bpf/usdt/libhello_usdt.so
+	 */
+	while (fscanf(f, "%zx-%zx %s %zx %*s %*d%[^\n]\n",
+		      &seg_start, &seg_end, mode, &seg_off, line) == 5) {
+		void *tmp;
+
+		/* to handle no path case (see above) we need to capture line
+		 * without skipping any whitespaces. So we need to strip
+		 * leading whitespaces manually here
+		 */
+		i = 0;
+		while (isblank(line[i]))
+			i++;
+		if (strcmp(line + i, path) != 0)
+			continue;
+
+		pr_debug("usdt: discovered segment for lib '%s': addrs %zx-%zx mode %s offset %zx\n",
+			 path, seg_start, seg_end, mode, seg_off);
+
+		/* ignore non-executable sections for shared libs */
+		if (mode[2] != 'x')
+			continue;
+
+		tmp = libbpf_reallocarray(*segs, *seg_cnt + 1, sizeof(**segs));
+		if (!tmp) {
+			err = -ENOMEM;
+			goto err_out;
+		}
+
+		*segs = tmp;
+		seg = *segs + *seg_cnt;
+		*seg_cnt += 1;
+
+		seg->start = seg_start;
+		seg->end = seg_end;
+		seg->offset = seg_off;
+		seg->is_exec = true;
+	}
+
+	if (*seg_cnt == 0) {
+		pr_warn("usdt: failed to find '%s' (resolved to '%s') within PID %d memory mappings\n",
+			lib_path, path, pid);
+		err = -ESRCH;
+		goto err_out;
+	}
+
+	qsort(*segs, *seg_cnt, sizeof(**segs), cmp_elf_segs);
+	err = 0;
+err_out:
+	fclose(f);
+	return err;
+}
+
+static struct elf_seg *find_elf_seg(struct elf_seg *segs, size_t seg_cnt, long addr, bool relative)
+{
+	struct elf_seg *seg;
+	int i;
+
+	if (relative) {
+		/* for shared libraries, address is relative offset and thus
+		 * should be fall within logical offset-based range of
+		 * [offset_start, offset_end)
+		 */
+		for (i = 0, seg = segs; i < seg_cnt; i++, seg++) {
+			if (seg->offset <= addr && addr < seg->offset + (seg->end - seg->start))
+				return seg;
+		}
+	} else {
+		/* for binaries, address is absolute and thus should be within
+		 * absolute address range of [seg_start, seg_end)
+		 */
+		for (i = 0, seg = segs; i < seg_cnt; i++, seg++) {
+			if (seg->start <= addr && addr < seg->end)
+				return seg;
+		}
+	}
+
+	return NULL;
+}
+
+static int parse_usdt_note(Elf *elf, const char *path, long base_addr,
+			   GElf_Nhdr *nhdr, const char *data, size_t name_off, size_t desc_off,
+			   struct usdt_note *usdt_note);
+
+static int parse_usdt_spec(struct usdt_spec *spec, const struct usdt_note *note, long usdt_cookie);
+
 static int collect_usdt_targets(struct usdt_manager *man, Elf *elf, const char *path, pid_t pid,
 				const char *usdt_provider, const char *usdt_name, long usdt_cookie,
 				struct usdt_target **out_targets, size_t *out_target_cnt)
 {
-	return -ENOTSUP;
+	size_t off, name_off, desc_off, seg_cnt = 0, lib_seg_cnt = 0, target_cnt = 0;
+	struct elf_seg *segs = NULL, *lib_segs = NULL;
+	struct usdt_target *targets = NULL, *target;
+	long base_addr = 0;
+	Elf_Scn *notes_scn, *base_scn;
+	GElf_Shdr base_shdr, notes_shdr;
+	GElf_Ehdr ehdr;
+	GElf_Nhdr nhdr;
+	Elf_Data *data;
+	int err;
+
+	*out_targets = NULL;
+	*out_target_cnt = 0;
+
+	err = find_elf_sec_by_name(elf, USDT_NOTE_SEC, &notes_shdr, &notes_scn);
+	if (err) {
+		pr_warn("usdt: no USDT notes section (%s) found in '%s'\n", USDT_NOTE_SEC, path);
+		return err;
+	}
+
+	if (notes_shdr.sh_type != SHT_NOTE || !gelf_getehdr(elf, &ehdr)) {
+		pr_warn("usdt: invalid USDT notes section (%s) in '%s'\n", USDT_NOTE_SEC, path);
+		return -EINVAL;
+	}
+
+	err = parse_elf_segs(elf, path, &segs, &seg_cnt);
+	if (err) {
+		pr_warn("usdt: failed to process ELF program segments for '%s': %d\n", path, err);
+		goto err_out;
+	}
+
+	/* .stapsdt.base ELF section is optional, but is used for prelink
+	 * offset compensation (see a big comment further below)
+	 */
+	if (find_elf_sec_by_name(elf, USDT_BASE_SEC, &base_shdr, &base_scn) == 0)
+		base_addr = base_shdr.sh_addr;
+
+	data = elf_getdata(notes_scn, 0);
+	off = 0;
+	while ((off = gelf_getnote(data, off, &nhdr, &name_off, &desc_off)) > 0) {
+		long usdt_abs_ip, usdt_rel_ip, usdt_sema_off = 0;
+		struct usdt_note note;
+		struct elf_seg *seg = NULL;
+		void *tmp;
+
+		err = parse_usdt_note(elf, path, base_addr, &nhdr,
+				      data->d_buf, name_off, desc_off, &note);
+		if (err)
+			goto err_out;
+
+		if (strcmp(note.provider, usdt_provider) != 0 || strcmp(note.name, usdt_name) != 0)
+			continue;
+
+		/* We need to compensate "prelink effect". See [0] for details,
+		 * relevant parts quoted here:
+		 *
+		 * Each SDT probe also expands into a non-allocated ELF note. You can
+		 * find this by looking at SHT_NOTE sections and decoding the format;
+		 * see below for details. Because the note is non-allocated, it means
+		 * there is no runtime cost, and also preserved in both stripped files
+		 * and .debug files.
+		 *
+		 * However, this means that prelink won't adjust the note's contents
+		 * for address offsets. Instead, this is done via the .stapsdt.base
+		 * section. This is a special section that is added to the text. We
+		 * will only ever have one of these sections in a final link and it
+		 * will only ever be one byte long. Nothing about this section itself
+		 * matters, we just use it as a marker to detect prelink address
+		 * adjustments.
+		 *
+		 * Each probe note records the link-time address of the .stapsdt.base
+		 * section alongside the probe PC address. The decoder compares the
+		 * base address stored in the note with the .stapsdt.base section's
+		 * sh_addr. Initially these are the same, but the section header will
+		 * be adjusted by prelink. So the decoder applies the difference to
+		 * the probe PC address to get the correct prelinked PC address; the
+		 * same adjustment is applied to the semaphore address, if any.
+		 *
+		 *   [0] https://sourceware.org/systemtap/wiki/UserSpaceProbeImplementation
+		 */
+		usdt_rel_ip = usdt_abs_ip = note.loc_addr;
+		if (base_addr) {
+			usdt_abs_ip += base_addr - note.base_addr;
+			usdt_rel_ip += base_addr - note.base_addr;
+		}
+
+		if (ehdr.e_type == ET_EXEC) {
+			/* When attaching uprobes (which what USDTs basically
+			 * are) kernel expects a relative IP to be specified,
+			 * so if we are attaching to an executable ELF binary
+			 * (i.e., not a shared library), we need to calculate
+			 * proper relative IP based on ELF's load address
+			 */
+			seg = find_elf_seg(segs, seg_cnt, usdt_abs_ip, false /* relative */);
+			if (!seg) {
+				err = -ESRCH;
+				pr_warn("usdt: failed to find ELF program segment for '%s:%s' in '%s' at IP 0x%lx\n",
+					usdt_provider, usdt_name, path, usdt_abs_ip);
+				goto err_out;
+			}
+			if (!seg->is_exec) {
+				err = -ESRCH;
+				pr_warn("usdt: matched ELF binary '%s' segment [0x%lx, 0x%lx) for '%s:%s' at IP 0x%lx is not executable\n",
+					path, seg->start, seg->end, usdt_provider, usdt_name,
+					usdt_abs_ip);
+				goto err_out;
+			}
+
+			usdt_rel_ip = usdt_abs_ip - (seg->start - seg->offset);
+		} else if (!man->has_bpf_cookie) { /* ehdr.e_type == ET_DYN */
+			/* If we don't have BPF cookie support but need to
+			 * attach to a shared library, we'll need to know and
+			 * record absolute addresses of attach points due to
+			 * the need to lookup USDT spec by absolute IP of
+			 * triggered uprobe. Doing this resolution is only
+			 * possible when we have a specific PID of the process
+			 * that's using specified shared library. BPF cookie
+			 * removes the absolute address limitation as we don't
+			 * need to do this lookup (we just use BPF cookie as
+			 * an index of USDT spec), so for newer kernels with
+			 * BPF cookie support libbpf supports USDT attachment
+			 * to shared libraries with no PID filter.
+			 */
+			if (pid < 0) {
+				pr_warn("usdt: attaching to shared libaries without specific PID is not supported on current kernel\n");
+				err = -ENOTSUP;
+				goto err_out;
+			}
+
+			/* lib_segs are lazily initialized only if necessary */
+			if (lib_seg_cnt == 0) {
+				err = parse_lib_segs(pid, path, &lib_segs, &lib_seg_cnt);
+				if (err) {
+					pr_warn("usdt: failed to get memory segments in PID %d for shared library '%s': %d\n",
+						pid, path, err);
+					goto err_out;
+				}
+			}
+
+			seg = find_elf_seg(lib_segs, lib_seg_cnt, usdt_rel_ip, true /* relative */);
+			if (!seg) {
+				err = -ESRCH;
+				pr_warn("usdt: failed to find shared lib memory segment for '%s:%s' in '%s' at relative IP 0x%lx\n",
+					usdt_provider, usdt_name, path, usdt_rel_ip);
+				goto err_out;
+			}
+
+			usdt_abs_ip = seg->start + (usdt_rel_ip - seg->offset);
+		}
+
+		pr_debug("usdt: probe for '%s:%s' in %s '%s': addr 0x%lx base 0x%lx (resolved abs_ip 0x%lx rel_ip 0x%lx) args '%s' in segment [0x%lx, 0x%lx) at offset 0x%lx\n",
+			 usdt_provider, usdt_name, ehdr.e_type == ET_EXEC ? "exec" : "lib ", path,
+			 note.loc_addr, note.base_addr, usdt_abs_ip, usdt_rel_ip, note.args,
+			 seg ? seg->start : 0, seg ? seg->end : 0, seg ? seg->offset : 0);
+
+		/* Adjust semaphore address to be a relative offset */
+		if (note.sema_addr) {
+			if (!man->has_sema_refcnt) {
+				pr_warn("usdt: kernel doesn't support USDT semaphore refcounting for '%s:%s' in '%s'\n",
+					usdt_provider, usdt_name, path);
+				err = -ENOTSUP;
+				goto err_out;
+			}
+
+			seg = find_elf_seg(segs, seg_cnt, note.sema_addr, false /* relative */);
+			if (!seg) {
+				err = -ESRCH;
+				pr_warn("usdt: failed to find ELF loadable segment with semaphore of '%s:%s' in '%s' at 0x%lx\n",
+					usdt_provider, usdt_name, path, note.sema_addr);
+				goto err_out;
+			}
+			if (seg->is_exec) {
+				err = -ESRCH;
+				pr_warn("usdt: matched ELF binary '%s' segment [0x%lx, 0x%lx] for semaphore of '%s:%s' at 0x%lx is executable\n",
+					path, seg->start, seg->end, usdt_provider, usdt_name,
+					note.sema_addr);
+				goto err_out;
+			}
+
+			usdt_sema_off = note.sema_addr - (seg->start - seg->offset);
+
+			pr_debug("usdt: sema  for '%s:%s' in %s '%s': addr 0x%lx base 0x%lx (resolved 0x%lx) in segment [0x%lx, 0x%lx] at offset 0x%lx\n",
+				 usdt_provider, usdt_name, ehdr.e_type == ET_EXEC ? "exec" : "lib ",
+				 path, note.sema_addr, note.base_addr, usdt_sema_off,
+				 seg->start, seg->end, seg->offset);
+		}
+
+		/* Record adjusted addresses and offsets and parse USDT spec */
+		tmp = libbpf_reallocarray(targets, target_cnt + 1, sizeof(*targets));
+		if (!tmp) {
+			err = -ENOMEM;
+			goto err_out;
+		}
+		targets = tmp;
+
+		target = &targets[target_cnt];
+		memset(target, 0, sizeof(*target));
+
+		target->abs_ip = usdt_abs_ip;
+		target->rel_ip = usdt_rel_ip;
+		target->sema_off = usdt_sema_off;
+
+		/* notes->args references strings from Elf itself, so they can
+		 * be referenced safely until elf_end() call
+		 */
+		target->spec_str = note.args;
+
+		err = parse_usdt_spec(&target->spec, &note, usdt_cookie);
+		if (err)
+			goto err_out;
+
+		target_cnt++;
+	}
+
+	*out_targets = targets;
+	*out_target_cnt = target_cnt;
+	err = target_cnt;
+
+err_out:
+	free(segs);
+	free(lib_segs);
+	if (err < 0)
+		free(targets);
+	return err;
 }
 
 struct bpf_link_usdt {
@@ -414,6 +899,7 @@ struct bpf_link *usdt_manager_attach_usdt(struct usdt_manager *man, const struct
 		link->uprobe_cnt++;
 	}
 
+	free(targets);
 	elf_end(elf);
 	close(fd);
 
@@ -422,8 +908,102 @@ struct bpf_link *usdt_manager_attach_usdt(struct usdt_manager *man, const struct
 err_out:
 	bpf_link__destroy(&link->link);
 
+	free(targets);
 	if (elf)
 		elf_end(elf);
 	close(fd);
 	return libbpf_err_ptr(err);
 }
+
+/* Parse out USDT ELF note from '.note.stapsdt' section.
+ * Logic inspired by perf's code.
+ */
+static int parse_usdt_note(Elf *elf, const char *path, long base_addr,
+			   GElf_Nhdr *nhdr, const char *data, size_t name_off, size_t desc_off,
+			   struct usdt_note *note)
+{
+	const char *provider, *name, *args;
+	long addrs[3];
+	size_t len;
+
+	/* sanity check USDT note name and type first */
+	if (strncmp(data + name_off, USDT_NOTE_NAME, nhdr->n_namesz) != 0)
+		return -EINVAL;
+	if (nhdr->n_type != USDT_NOTE_TYPE)
+		return -EINVAL;
+
+	/* sanity check USDT note contents ("description" in ELF terminology) */
+	len = nhdr->n_descsz;
+	data = data + desc_off;
+
+	/* +3 is the very minimum required to store three empty strings */
+	if (len < sizeof(addrs) + 3)
+		return -EINVAL;
+
+	/* get location, base, and semaphore addrs */
+	memcpy(&addrs, data, sizeof(addrs));
+
+	/* parse string fields: provider, name, args */
+	provider = data + sizeof(addrs);
+
+	name = (const char *)memchr(provider, '\0', data + len - provider);
+	if (!name) /* non-zero-terminated provider */
+		return -EINVAL;
+	name++;
+	if (name >= data + len || *name == '\0') /* missing or empty name */
+		return -EINVAL;
+
+	args = memchr(name, '\0', data + len - name);
+	if (!args) /* non-zero-terminated name */
+		return -EINVAL;
+	++args;
+	if (args >= data + len) /* missing arguments spec */
+		return -EINVAL;
+
+	note->provider = provider;
+	note->name = name;
+	if (*args == '\0' || *args == ':')
+		note->args = "";
+	else
+		note->args = args;
+	note->loc_addr = addrs[0];
+	note->base_addr = addrs[1];
+	note->sema_addr = addrs[2];
+
+	return 0;
+}
+
+static int parse_usdt_arg(const char *arg_str, int arg_num, struct usdt_arg_spec *arg);
+
+static int parse_usdt_spec(struct usdt_spec *spec, const struct usdt_note *note, long usdt_cookie)
+{
+	const char *s;
+	int len;
+
+	spec->usdt_cookie = usdt_cookie;
+	spec->arg_cnt = 0;
+
+	s = note->args;
+	while (s[0]) {
+		if (spec->arg_cnt >= USDT_MAX_ARG_CNT) {
+			pr_warn("usdt: too many USDT arguments (> %d) for '%s:%s' with args spec '%s'\n",
+				USDT_MAX_ARG_CNT, note->provider, note->name, note->args);
+			return -E2BIG;
+		}
+
+		len = parse_usdt_arg(s, spec->arg_cnt, &spec->args[spec->arg_cnt]);
+		if (len < 0)
+			return len;
+
+		s += len;
+		spec->arg_cnt++;
+	}
+
+	return 0;
+}
+
+static int parse_usdt_arg(const char *arg_str, int arg_num, struct usdt_arg_spec *arg)
+{
+	pr_warn("usdt: libbpf doesn't support USDTs on current architecture\n");
+	return -ENOTSUP;
+}