diff --git a/CMakeLists.txt b/CMakeLists.txt
index c932b261c45..5ab2c323b63 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -273,7 +273,7 @@ if(NOT MBED_IS_NATIVE_BUILD)
     mbed_create_distro(mbed-os ${MBED_TARGET_CMAKE_NAME} mbed-core-flags mbed-core-sources mbed-rtos-flags mbed-rtos-sources)
 
     # Set up the linker script and hook it up to the top-level OS targets
-    mbed_setup_linker_script(mbed-baremetal mbed-os)
+    mbed_setup_linker_script(mbed-baremetal mbed-os ${CMAKE_CURRENT_BINARY_DIR}/mbed-target-config.h)
 
     # Make sure that things linking mbed-core-flags can also get the target-specific include dirs and flags.
     mbed_extract_flags(${MBED_TARGET_CMAKE_NAME}-flags ${MBED_TARGET_CMAKE_NAME})
diff --git a/connectivity/FEATURE_BLE/source/cordio/source/BLEInstanceBaseImpl.cpp b/connectivity/FEATURE_BLE/source/cordio/source/BLEInstanceBaseImpl.cpp
index abe30f20809..fa7cb145dc2 100644
--- a/connectivity/FEATURE_BLE/source/cordio/source/BLEInstanceBaseImpl.cpp
+++ b/connectivity/FEATURE_BLE/source/cordio/source/BLEInstanceBaseImpl.cpp
@@ -70,17 +70,10 @@ uint8_t *SystemHeapStart;
 uint32_t SystemHeapSize;
 
 /**
- * Weak definition of ble_cordio_get_hci_driver.
- * A runtime error is generated if the user does not define any
- * ble_cordio_get_hci_driver.
+ * Function to get the device's default driver implementation.
+ * Defined by whichever driver library is used.
  */
-MBED_WEAK ble::CordioHCIDriver &ble_cordio_get_hci_driver()
-{
-    MBED_ASSERT("No HCI driver");
-    printf("Please provide an implementation for the HCI driver");
-    ble::CordioHCIDriver *bad_instance = nullptr;
-    return *bad_instance;
-}
+ble::CordioHCIDriver &ble_cordio_get_hci_driver();
 
 /**
  * Low level HCI interface between Cordio stack and the port.
diff --git a/drivers/usb/tests/TESTS/host_tests/usb_device_serial.py b/drivers/usb/tests/TESTS/host_tests/usb_device_serial.py
index cf281bcdde7..b8835aa1b2d 100644
--- a/drivers/usb/tests/TESTS/host_tests/usb_device_serial.py
+++ b/drivers/usb/tests/TESTS/host_tests/usb_device_serial.py
@@ -261,7 +261,7 @@ def change_line_coding(self):
 
         New line coding params are read from the device serial data.
         """
-        mbed_serial = serial.Serial(timeout=0.5, dsrdtr=False)
+        mbed_serial = serial.Serial(timeout=0.5, dsrdtr=True)
         mbed_serial.dtr = False
         try:
             mbed_serial.port = retry_fun_call(
diff --git a/platform/source/CMakeLists.txt b/platform/source/CMakeLists.txt
index 152b37a0e5e..1f21b2052a1 100644
--- a/platform/source/CMakeLists.txt
+++ b/platform/source/CMakeLists.txt
@@ -56,3 +56,8 @@ if(MBED_TOOLCHAIN STREQUAL "GCC_ARM" AND MBED_C_LIB STREQUAL "small")
             newlib_nano_malloc_workaround.c
     )
 endif()
+
+if("MBED_CONF_TARGET_CONSOLE_USB=1" IN_LIST MBED_CONFIG_DEFINITIONS)
+    # If the stdio console uses USB, we need to link mbed-usb into the default OS build
+    target_link_libraries(mbed-core-flags INTERFACE mbed-usb)
+endif()
diff --git a/platform/source/mbed_retarget.cpp b/platform/source/mbed_retarget.cpp
index f1f6c13ede3..6e10dcd4d77 100644
--- a/platform/source/mbed_retarget.cpp
+++ b/platform/source/mbed_retarget.cpp
@@ -21,6 +21,7 @@
 #endif
 
 #include <mstd_mutex>
+#include <mstd_atomic>
 #include <time.h>
 #include "platform/platform.h"
 #include "platform/FilePath.h"
@@ -49,6 +50,11 @@
 #include <errno.h>
 #include "platform/mbed_retarget.h"
 
+// Need to use the USBSerial class for this config option
+#if MBED_CONF_TARGET_CONSOLE_USB
+#include "USBSerial.h"
+#endif
+
 static SingletonPtr<rtos::Mutex> _mutex;
 
 /* DIR is typedeffed to struct DIR_impl in header */
@@ -355,6 +361,22 @@ static FileHandle *default_console()
     static const serial_pinmap_t console_pinmap = get_uart_pinmap(CONSOLE_TX, CONSOLE_RX);
     static DirectSerial console(console_pinmap, MBED_CONF_PLATFORM_STDIO_BAUD_RATE);
 #  endif
+
+#elif MBED_CONF_TARGET_CONSOLE_USB
+
+// Sanity check that we have USB
+#if !defined(DEVICE_USBDEVICE)
+#error "target.console_usb enabled on device without USB!  Something is wrong here."
+#endif
+
+    static mstd::atomic<bool> consoleInitialized(false);
+    static USBSerial console(false); // Do not connect in blocking mode, otherwise the code won't start until USB is connected
+
+    bool uninitializedVal = false;
+    if (consoleInitialized.compare_exchange_strong(uninitializedVal, true)) {
+        console.connect();
+    }
+
 #else // MBED_CONF_TARGET_CONSOLE_UART && DEVICE_SERIAL
     static Sink console;
 #endif
diff --git a/storage/kvstore/kv_config/CMakeLists.txt b/storage/kvstore/kv_config/CMakeLists.txt
index cdc34d26507..f615d40b487 100644
--- a/storage/kvstore/kv_config/CMakeLists.txt
+++ b/storage/kvstore/kv_config/CMakeLists.txt
@@ -24,6 +24,4 @@ target_link_libraries(mbed-storage-kv-config
         mbed-storage-securestore
         mbed-storage-littlefs
         mbed-storage-fat
-        mbed-storage-flashiap
-        mbed-storage-sd
 )
diff --git a/targets/TARGET_NORDIC/TARGET_NRF5x/TARGET_NRF52/TARGET_MCU_NRF52840/CMakeLists.txt b/targets/TARGET_NORDIC/TARGET_NRF5x/TARGET_NRF52/TARGET_MCU_NRF52840/CMakeLists.txt
index 7193d458489..b222de04fa1 100644
--- a/targets/TARGET_NORDIC/TARGET_NRF5x/TARGET_NRF52/TARGET_MCU_NRF52840/CMakeLists.txt
+++ b/targets/TARGET_NORDIC/TARGET_NRF5x/TARGET_NRF52/TARGET_MCU_NRF52840/CMakeLists.txt
@@ -72,3 +72,6 @@ target_link_libraries(mbed-arduino-nano33ble INTERFACE mbed-mcu-nrf52840)
 target_link_libraries(mbed-ep-agora INTERFACE mbed-mcu-nrf52840)
 target_link_libraries(mbed-ep-atlas INTERFACE mbed-mcu-nrf52840)
 target_link_libraries(mbed-nrf52840-dk INTERFACE mbed-mcu-nrf52840)
+
+# ARDUINO_NANO33BLE_SWD is the same as the non-SWD one, just with different defines in the linker script.
+add_library(mbed-arduino-nano33ble-swd ALIAS mbed-arduino-nano33ble)
\ No newline at end of file
diff --git a/targets/TARGET_NORDIC/TARGET_NRF5x/TARGET_NRF52/TARGET_MCU_NRF52840/device/cmsis_nvic.h b/targets/TARGET_NORDIC/TARGET_NRF5x/TARGET_NRF52/TARGET_MCU_NRF52840/device/cmsis_nvic.h
index 6cc327e851d..34314a58493 100644
--- a/targets/TARGET_NORDIC/TARGET_NRF5x/TARGET_NRF52/TARGET_MCU_NRF52840/device/cmsis_nvic.h
+++ b/targets/TARGET_NORDIC/TARGET_NRF5x/TARGET_NRF52/TARGET_MCU_NRF52840/device/cmsis_nvic.h
@@ -35,6 +35,20 @@
 #define NVIC_NUM_VECTORS      (16 + 48)   // CORE + MCU Peripherals
 #define NVIC_USER_IRQ_OFFSET  16
 
+// RAM size defines, same as in the linker script
+#if !defined(MBED_APP_START)
+  #define MBED_APP_START 0x0
+#endif
+
+#if !defined(MBED_APP_SIZE)
+  #define MBED_APP_SIZE 0x100000
+#endif
+
+#if !defined(MBED_RAM_START)
+  #define MBED_RAM_START 0x20000000
+  #define MBED_RAM_SIZE 0x40000
+#endif
+
 #include "nrf.h"
 #include "cmsis.h"
 
diff --git a/targets/targets.json b/targets/targets.json
index 0da7d42eac5..0c2fb20645f 100644
--- a/targets/targets.json
+++ b/targets/targets.json
@@ -34,9 +34,13 @@
         ],
         "config": {
             "console-uart": {
-                "help": "Target has UART console on pins CONSOLE_TX, CONSOLE_RX. Value is only significant if target has SERIAL device.",
+                "help": "Target has UART console on pins CONSOLE_TX, CONSOLE_RX. Value is only significant if target has SERIAL device. Mutually exclusive with target.console-usb.",
                 "value": true
             },
+            "console-usb": {
+                "help": "Target has USB console on the default USB pins.  Mutually exclusive with target.console-uart.",
+                "value": false
+            },
             "console-uart-flow-control": {
                 "help": "Console hardware flow control. Options: null, RTS, CTS, RTSCTS.",
                 "value": null
@@ -6935,7 +6939,6 @@
             "5"
         ],
         "device_name": "nRF52840_xxAA",
-        "OUTPUT_EXT": "hex",
         "is_disk_virtual": true,
         "supported_toolchains": [
             "GCC_ARM",
@@ -6997,10 +7000,34 @@
             "ITM"
         ],
         "macros_add": [
-            "CONFIG_GPIO_AS_PINRESET"
+            "CONFIG_GPIO_AS_PINRESET",
+            "MBED_APP_START=0x10000",
+            "MBED_APP_SIZE=0xf0000"
         ],
+        "overrides": {
+            "console-usb": true,
+            "console-uart": false
+        },
         "OUTPUT_EXT": "bin"
     },
+    "ARDUINO_NANO33BLE_SWD": {
+        "inherits": [
+            "MCU_NRF52840"
+        ],
+        "features_add": [
+            "STORAGE"
+        ],
+        "components_remove": [
+            "QSPIF"
+        ],
+        "device_has_remove": [
+            "QSPI",
+            "ITM"
+        ],
+        "macros_add": [
+            "CONFIG_GPIO_AS_PINRESET"
+        ]
+    },
     "NUMAKER_PFM_NUC472": {
         "core": "Cortex-M4F",
         "components_add": [
diff --git a/targets/upload_method_cfg/ARDUINO_NANO33BLE.cmake b/targets/upload_method_cfg/ARDUINO_NANO33BLE.cmake
new file mode 100644
index 00000000000..6f44168bee6
--- /dev/null
+++ b/targets/upload_method_cfg/ARDUINO_NANO33BLE.cmake
@@ -0,0 +1,11 @@
+# Mbed OS upload method configuration file for target ARDUINO_NANO33BLE.
+# To change any of these parameters from their default values, set them in your build script between where you
+# include app.cmake and where you add mbed os as a subdirectory.
+
+# General config parameters
+# -------------------------------------------------------------
+set(UPLOAD_METHOD_DEFAULT ARDUINO_BOSSAC)
+
+# Config options for ARDUINO_BOSSAC
+# -------------------------------------------------------------
+set(ARDUINO_BOSSAC_UPLOAD_ENABLED TRUE)
\ No newline at end of file
diff --git a/targets/upload_method_cfg/ARDUINO_NANO33BLE_SWD.cmake b/targets/upload_method_cfg/ARDUINO_NANO33BLE_SWD.cmake
new file mode 100644
index 00000000000..1ac0fe9f2ec
--- /dev/null
+++ b/targets/upload_method_cfg/ARDUINO_NANO33BLE_SWD.cmake
@@ -0,0 +1,27 @@
+# Mbed OS upload method configuration file for target ARDUINO_NANO33BLE_SWD.
+# To change any of these parameters from their default values, set them in your build script between where you
+# include app.cmake and where you add mbed os as a subdirectory.
+
+# Notes:
+# 1. Using pyocd with this device requires installing a pack: `pyocd pack install nrf52`.
+
+
+# General config parameters
+# -------------------------------------------------------------
+set(UPLOAD_METHOD_DEFAULT OPENOCD)
+
+# Config options for PYOCD
+# -------------------------------------------------------------
+
+set(PYOCD_UPLOAD_ENABLED TRUE)
+set(PYOCD_TARGET_NAME nrf52840)
+set(PYOCD_CLOCK_SPEED 4000k)
+
+# Config options for OPENOCD
+# -------------------------------------------------------------
+
+set(OPENOCD_UPLOAD_ENABLED TRUE)
+set(OPENOCD_CHIP_CONFIG_COMMANDS
+    -f ${OpenOCD_SCRIPT_DIR}/interface/cmsis-dap.cfg
+	-c "transport select swd"
+	-f ${OpenOCD_SCRIPT_DIR}/target/nrf52.cfg)
\ No newline at end of file
diff --git a/tools/cmake/mbed_set_linker_script.cmake b/tools/cmake/mbed_set_linker_script.cmake
index 6438890b231..a313e0ccd88 100644
--- a/tools/cmake/mbed_set_linker_script.cmake
+++ b/tools/cmake/mbed_set_linker_script.cmake
@@ -21,7 +21,11 @@ endfunction(mbed_set_linker_script)
 # Set up the linker script for the top-level Mbed OS targets.
 # If needed, this also creates another target to preprocess the linker script.
 #
-function(mbed_setup_linker_script mbed_os_target mbed_baremetal_target)
+# mbed_os_target: CMake target for Mbed OS
+# mbed_baremetal_target: CMake target for Mbed Baremetal
+# target_defines_header: the full path to the header containing all of the Mbed target defines
+#
+function(mbed_setup_linker_script mbed_os_target mbed_baremetal_target target_defines_header)
 
     # Find the path to the desired linker script
     # (the property should be set on both the OS and baremetal targets in a sane world)
@@ -45,53 +49,42 @@ function(mbed_setup_linker_script mbed_os_target mbed_baremetal_target)
     # global property. We need this solely to pass the compile definitions to GCC's preprocessor,
     # so it can expand any macro definitions in the linker script.
     get_property(linker_defs_response_file GLOBAL PROPERTY COMPILE_DEFS_RESPONSE_FILE)
-    if(MBED_TOOLCHAIN STREQUAL "GCC_ARM")
 
-        get_filename_component(RAW_LINKER_SCRIPT_NAME ${RAW_LINKER_SCRIPT_PATHS} NAME)
-        get_filename_component(LINKER_SCRIPT_NAME ${LINKER_SCRIPT_PATH} NAME)
-        add_custom_command(
-            OUTPUT
-                ${LINKER_SCRIPT_PATH}
-            PRE_LINK
-            COMMAND
-                ${CMAKE_C_COMPILER} @${linker_defs_response_file}
-                -E -x assembler-with-cpp
-                -P ${RAW_LINKER_SCRIPT_PATHS}
-                -o ${LINKER_SCRIPT_PATH}
-            DEPENDS
-                ${RAW_LINKER_SCRIPT_PATHS}
-                ${linker_defs_response_file}
-            WORKING_DIRECTORY
-                ${CMAKE_CURRENT_SOURCE_DIR}
-            COMMENT
-                "Preprocess linker script: ${RAW_LINKER_SCRIPT_NAME} -> ${LINKER_SCRIPT_NAME}"
-            VERBATIM
+    get_filename_component(RAW_LINKER_SCRIPT_NAME ${RAW_LINKER_SCRIPT_PATHS} NAME)
+    get_filename_component(LINKER_SCRIPT_NAME ${LINKER_SCRIPT_PATH} NAME)
+    add_custom_command(
+        OUTPUT
+            ${LINKER_SCRIPT_PATH}
+        PRE_LINK
+        COMMAND
+            ${CMAKE_C_COMPILER} @${linker_defs_response_file}
+            -E -x assembler-with-cpp
+            -include ${target_defines_header}
+            -P ${RAW_LINKER_SCRIPT_PATHS}
+            -o ${LINKER_SCRIPT_PATH}
+        DEPENDS
+            ${RAW_LINKER_SCRIPT_PATHS}
+            ${linker_defs_response_file}
+            ${target_defines_header}
+        WORKING_DIRECTORY
+            ${CMAKE_CURRENT_SOURCE_DIR}
+        COMMENT
+            "Preprocess linker script: ${RAW_LINKER_SCRIPT_NAME} -> ${LINKER_SCRIPT_NAME}"
+        VERBATIM
+    )
+
+    # The job to create the linker script gets attached to the mbed-linker-script target,
+    # which is then added as a dependency of the MCU target.  This ensures the linker script will exist
+    # by the time we need it.
+    add_custom_target(mbed-linker-script DEPENDS ${LINKER_SCRIPT_PATH} VERBATIM)
+    foreach(TARGET ${mbed_baremetal_target} ${mbed_os_target})
+        add_dependencies(${TARGET} mbed-linker-script)
+
+        # Add linker flags to the MCU target to pick up the preprocessed linker script
+        target_link_options(${TARGET}
+            INTERFACE
+                "-T" "${LINKER_SCRIPT_PATH}"
         )
+    endforeach()
 
-        # The job to create the linker script gets attached to the mbed-linker-script target,
-        # which is then added as a dependency of the MCU target.  This ensures the linker script will exist
-        # by the time we need it.
-        add_custom_target(mbed-linker-script DEPENDS ${LINKER_SCRIPT_PATH} VERBATIM)
-
-        foreach(TARGET ${mbed_baremetal_target} ${mbed_os_target})
-
-
-            add_dependencies(${TARGET} mbed-linker-script)
-
-            # Add linker flags to the MCU target to pick up the preprocessed linker script
-            target_link_options(${TARGET}
-                INTERFACE
-                    "-T" "${LINKER_SCRIPT_PATH}"
-            )
-        endforeach()
-    elseif(MBED_TOOLCHAIN STREQUAL "ARM")
-        foreach(TARGET ${mbed_baremetal_target} ${mbed_os_target})
-            target_link_options(${TARGET}
-                INTERFACE
-                    "--scatter=${raw_linker_script_path}"
-                    "--predefine=${_linker_preprocess_definitions}"
-                    "--map"
-            )
-        endforeach()
-    endif()
 endfunction(mbed_setup_linker_script)
diff --git a/tools/cmake/upload_methods/FindArduinoBossac.cmake b/tools/cmake/upload_methods/FindArduinoBossac.cmake
new file mode 100644
index 00000000000..3e70449cb5c
--- /dev/null
+++ b/tools/cmake/upload_methods/FindArduinoBossac.cmake
@@ -0,0 +1,38 @@
+# Copyright (c) 2020 ARM Limited. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# ----------------------------------------------
+# CMake finder for the Arduino variant of bossac
+#
+#
+# This module defines:
+# ArduinoBossac - full path to bossac executable
+# ArduinoBossac_FOUND - whether or not the ArduinoBossac executable was found
+
+set(ArduinoBossac_PATHS "")
+
+# try to figure out where ArduinoBossac may be installed.
+if("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
+
+    # on Windows, assume that the user extracted the binaries to Program Files
+
+    # On my computer the path is C:\Users\jamie\AppData\Local\Arduino15\packages\arduino\tools\bossac\1.9.1-arduino2\bossac.exe
+    file(GLOB ArduinoBossac_PATHS "$ENV{LocalAppData}/Arduino*/packages/arduino/tools/bossac/1.9.1-arduino2")
+else()
+
+    # Linux / Mac
+    # Per here: https://docs.zephyrproject.org/2.7.0/boards/arm/arduino_nano_33_ble/doc/index.html
+    # a possible path would be $HOME/.arduino15/packages/arduino/tools/bossac/1.9.1-arduino2/bossac
+    file(GLOB ArduinoBossac_PATHS "$ENV{HOME}/.arduino*/packages/arduino/tools/bossac/1.9.1-arduino2")
+
+endif()
+
+# if we found multiple paths, check the one with the highest version number first
+list(SORT ArduinoBossac_PATHS)
+list(REVERSE ArduinoBossac_PATHS)
+
+find_program(ArduinoBossac NAMES bossac HINTS ${ArduinoBossac_PATHS} DOC "Path to the Arduino variant of bossac")
+
+find_package_handle_standard_args(ArduinoBossac REQUIRED_VARS ArduinoBossac)
+
+
diff --git a/tools/cmake/upload_methods/UploadMethodARDUINO_BOSSAC.cmake b/tools/cmake/upload_methods/UploadMethodARDUINO_BOSSAC.cmake
new file mode 100644
index 00000000000..497bca645dc
--- /dev/null
+++ b/tools/cmake/upload_methods/UploadMethodARDUINO_BOSSAC.cmake
@@ -0,0 +1,33 @@
+### Arduino Bossac upload method
+### This method can be used for boards with Arduino bootloaders that talk to the bossac flash program.
+# This method creates the following options:
+# ARDUINO_BOSSAC_SERIAL_PORT - Serial port to talk to the device bootloader on, e.g. "COM7"
+
+set(UPLOAD_SUPPORTS_DEBUG FALSE)
+
+### Check if upload method can be enabled on this machine
+find_package(ArduinoBossac)
+set(UPLOAD_ARDUINO_BOSSAC_FOUND ${ArduinoBossac_FOUND})
+
+### Set up options
+set(ARDUINO_BOSSAC_SERIAL_PORT "" CACHE STRING "Serial port to talk to the device bootloader on, e.g. 'COM7'")
+if("${ARDUINO_BOSSAC_SERIAL_PORT}" STREQUAL "")
+	message(WARNING "Please set ARDUINO_BOSSAC_SERIAL_PORT to the serial port to communicate with the target bootloader on.  Until this is set, flashing will not work.")
+endif()
+
+### Function to generate upload target
+function(gen_upload_target TARGET_NAME BIN_FILE)
+
+	add_custom_target(flash-${TARGET_NAME}
+		COMMAND ${ArduinoBossac}
+		--debug
+		--port=${ARDUINO_BOSSAC_SERIAL_PORT}
+		--usb-port=1
+		--info
+		--erase
+		--write ${BIN_FILE}
+		--reset)
+
+	add_dependencies(flash-${TARGET_NAME} ${TARGET_NAME})
+
+endfunction(gen_upload_target)
diff --git a/tools/cmake/upload_methods/UploadMethodOPENOCD.cmake b/tools/cmake/upload_methods/UploadMethodOPENOCD.cmake
index 8130885b71f..83cc61f94ec 100644
--- a/tools/cmake/upload_methods/UploadMethodOPENOCD.cmake
+++ b/tools/cmake/upload_methods/UploadMethodOPENOCD.cmake
@@ -4,6 +4,8 @@
 ### OpenOCD Upload Method
 # This method needs the following parameters:
 # OPENOCD_CHIP_CONFIG_COMMANDS - Specifies all OpenOCD commands needed to configure openocd for your target processor.
+# This method creates the following options:
+# OPENOCD_ADAPTER_SERIAL - Serial number of the debug adapter to select for OpenOCD.  Set to empty to detect any matching adapter.
 
 set(UPLOAD_SUPPORTS_DEBUG TRUE)
 
@@ -11,7 +13,32 @@ set(UPLOAD_SUPPORTS_DEBUG TRUE)
 find_package(OpenOCD)
 set(UPLOAD_OPENOCD_FOUND ${OpenOCD_FOUND})
 
+### Setup options
+set(OPENOCD_ADAPTER_SERIAL "" CACHE STRING "Serial number of the debug adapter to select for OpenOCD.  Set to empty to detect any matching adapter.")
+
 ### Function to generate upload target
+set(OPENOCD_ADAPTER_SERIAL_COMMAND "")
+if(NOT "${OPENOCD_ADAPTER_SERIAL}" STREQUAL "")
+
+	# Generate script file that tells OpenOCD how to find the correct debug adapter.
+	file(GENERATE OUTPUT ${CMAKE_BINARY_DIR}/openocd_adapter_config.cfg CONTENT
+"# Script to select the correct debug adapter with OpenOCD.
+# This file is generated by UploadMethodOPENOCD.cmake.  Your edits will be overwritten.
+
+# There's supposed to be a standard command to select the adapter serial ('adapter serial'), but it seems
+# like not all adapters support this yet so extra work is needed.
+set adapter_serial \"${OPENOCD_ADAPTER_SERIAL}\"
+if { [adapter name] == \"hla\" } {
+	hla_serial $adapter_serial
+} elseif { [adapter name] == \"cmsis-dap\" } {
+	cmsis_dap_serial $adapter_serial
+} else {
+	adapter serial $adapter_serial
+}")
+
+	set(OPENOCD_ADAPTER_SERIAL_COMMAND -f ${CMAKE_BINARY_DIR}/openocd_adapter_config.cfg)
+endif()
+
 function(gen_upload_target TARGET_NAME BIN_FILE)
 
 	# unlike other upload methods, OpenOCD uses the elf file
@@ -19,7 +46,9 @@ function(gen_upload_target TARGET_NAME BIN_FILE)
 		COMMENT "Flashing ${TARGET_NAME} with OpenOCD..."
 		COMMAND ${OpenOCD}
 		${OPENOCD_CHIP_CONFIG_COMMANDS}
-		-c "program $<TARGET_FILE:${TARGET_NAME}> reset exit")
+		${OPENOCD_ADAPTER_SERIAL_COMMAND}
+		-c "program $<TARGET_FILE:${TARGET_NAME}> reset exit"
+		VERBATIM)
 
 	add_dependencies(flash-${TARGET_NAME} ${TARGET_NAME})
 endfunction(gen_upload_target)
@@ -30,5 +59,7 @@ add_custom_target(gdbserver
 	COMMAND
 	${OpenOCD}
 	${OPENOCD_CHIP_CONFIG_COMMANDS}
+	${OPENOCD_ADAPTER_SERIAL_COMMAND}
 	-c "gdb_port ${GDB_PORT}"
-	USES_TERMINAL)
+	USES_TERMINAL
+	VERBATIM)
diff --git a/tools/cmake/upload_methods/UploadMethodPYOCD.cmake b/tools/cmake/upload_methods/UploadMethodPYOCD.cmake
index f7126fdb1fa..da855a06464 100644
--- a/tools/cmake/upload_methods/UploadMethodPYOCD.cmake
+++ b/tools/cmake/upload_methods/UploadMethodPYOCD.cmake
@@ -6,7 +6,7 @@
 # PYOCD_TARGET_NAME - Name of your processor as passed to the -t option of pyOCD. This is usually the full or partial model number.
 # PYOCD_CLOCK_SPEED - Clock speed of the JTAG or SWD connection. Default is in Hz, but can use k and M suffixes for MHz and GHz
 # This method creates the following options:
-# PYOCD_PROBE_UID - Probe UID to pass to pyOCD commands. You can get the UIDs from `python -m pyocd list`.
+# PYOCD_PROBE_UID - Probe UID to pass to pyOCD commands. You can get the UIDs from `python -m pyocd list`.  Set to empty to detect any probe.
 
 set(UPLOAD_SUPPORTS_DEBUG TRUE)
 
@@ -15,12 +15,13 @@ include(CheckPythonPackage)
 check_python_package(pyocd HAVE_PYOCD)
 set(UPLOAD_PYOCD_FOUND ${HAVE_PYOCD})
 
+### Setup options
+set(PYOCD_PROBE_UID "" CACHE STRING "Probe UID to pass to pyOCD commands. You can get the UIDs from `python -m pyocd list`.  Set to empty to detect any probe.")
+
 ### Function to generate upload target
 set(PYOCD_PROBE_ARGS "")
-if(DEFINED PYOCD_PROBE_UID)
-	if(NOT "${PYOCD_PROBE_UID}" STREQUAL "")
-		set(PYOCD_PROBE_ARGS --probe ${PYOCD_PROBE_UID})
-	endif()
+if(NOT "${PYOCD_PROBE_UID}" STREQUAL "")
+	set(PYOCD_PROBE_ARGS --probe ${PYOCD_PROBE_UID})
 endif()
 
 function(gen_upload_target TARGET_NAME BIN_FILE)
diff --git a/tools/requirements-ci-build.txt b/tools/requirements-ci-build.txt
index 35efca1b35a..5920cb158c9 100644
--- a/tools/requirements-ci-build.txt
+++ b/tools/requirements-ci-build.txt
@@ -6,4 +6,5 @@ mbed-ls
 
 # For USB Device host tests
 hidapi>=0.7.99
-pyusb>=1.2.0
\ No newline at end of file
+pyusb>=1.2.0
+wmi>=1.5; platform_system == "Windows"
\ No newline at end of file