Is it possible to catch the instruction that wrote an invalid value into the pc register?

After an instruction, for example,

pop {pc}

writes an invalid value, say 0, into the pc register, CPU will try to fetch the instruction located at 0, which will usually trigger a segment fault.

While handling the fault, we can read the values of the registers, including that of the pc register, which is 0 in this case. Obviously, if we could lea the address of the instruction that caused the invalid pc value, like the address of the pop instruction above, it would help us a lot more with debugging. Is there a way to catch the fault a teeny bit earlier (catch the previous instruction, which caused the fault)?