Trusted-grub provides this capability.
PCRs 0-7 are filled if you have a TPM aware BIOS. Trusted-grub will fill PCRs 8-14 with grub config, options, kernel, module hashes - see 2.4 Measurements section.
Here's what the PCRs looks like without a TPM aware boot loader:
# cat /sys/devices/pnp0/00:09/pcrs
PCR-00: A8 5A 84 B7 38 FC C0 CF 3A 44 7A 5A A7 03 83 0B BE E7 BD D9
PCR-01: 11 40 C1 7D 0D 25 51 9E 28 53 A5 22 B7 1F 12 24 47 91 15 CB
PCR-02: A3 82 9A 64 61 85 2C C1 43 ED 75 83 48 35 90 4F 07 A9 D5 2C
PCR-03: B2 A8 3B 0E BF 2F 83 78 29 9A 5B 2B DF C3 1E A9 55 AD 72 36
PCR-04: 78 93 CF 58 0E E1 A3 8F DA 6F E0 3B C9 53 76 28 12 93 EF 82
PCR-05: 72 A7 A9 6C 96 39 38 52 D5 9B D9 12 39 75 86 44 3E 20 10 2F
PCR-06: 92 20 EB AC 21 CE BA 8A C0 AB 92 0E D0 27 E4 F8 91 C9 03 EE
PCR-07: B2 A8 3B 04 BF 2F 83 74 29 9A 5B 4B DF C3 1E A9 55 AD 72 36
PCR-08: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
PCR-09: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
PCR-10: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
PCR-11: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
PCR-12: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
PCR-13: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
PCR-14: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
PCR-15: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
PCR-16: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
PCR-17: FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
PCR-18: FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
PCR-19: FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
PCR-20: FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
PCR-21: FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
PCR-22: FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
PCR-23: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
As you can see, PCR 0-7 are filled but from PCR 8 to 15 it's empty unless a TPM-aware bootloader (e.g. trusted-grub) extend them (they are still reset to 0). If you don't have those PCR filled, something's wrong with your trusted-grub setup.
Another way would be to use TXT to load a trusted-OS. In which case, PCRs 17-23 would be filled with the trusted OS measurements. Presently, as TXT is not used, the PCRs are filled with 1s (f). They only get reset once TXT is launched. See Intel's tboot.