Assuming that you built the kernel with CONFIG_DEBUG_INFO, the debug symbols should already be in the .ko file for the module in question. However, since the module can be dynamically loaded at any address, you need to provide gdb with a bit more information.
cd /sys/module/${MODNAME}/sections cat .text .data .bss
You can then use this information when reporting GDB modules:
(gdb) add-symbol-file ${MODPATH} ${TEXT} -s .data ${DATA} -s .bss ${BSS}
There is a tutorial in which you will learn about this on the Linux Foundation website. Debugging the kernel and module using GDB
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