diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7412aca00fb..1be8b902cbd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -104,6 +104,10 @@ list(APPEND CMAKE_MODULE_PATH
 add_subdirectory(extern)
 
 if(MBED_IS_STANDALONE)
+
+    # Always print output on test failure
+    list(APPEND CMAKE_CTEST_ARGUMENTS --output-on-failure)
+
     include(CTest)
 
     if((NOT MBED_BUILD_GREENTEA_TESTS) AND MBED_ENABLE_TESTING)
diff --git a/connectivity/drivers/wifi/COMPONENT_WHD/wifi-host-driver/CMakeLists.txt b/connectivity/drivers/wifi/COMPONENT_WHD/wifi-host-driver/CMakeLists.txt
index df87905d238..2ae3e9d47bd 100644
--- a/connectivity/drivers/wifi/COMPONENT_WHD/wifi-host-driver/CMakeLists.txt
+++ b/connectivity/drivers/wifi/COMPONENT_WHD/wifi-host-driver/CMakeLists.txt
@@ -119,6 +119,13 @@ target_sources(mbed-wifi
         src/bus_protocols/whd_bus_spi_protocol.c
 )
 
+if("TARGET_CY_EXTERNAL_WIFI_FW" IN_LIST MBED_TARGET_DEFINITIONS)
+	# For Cypress targets, add additional resource driver for external wifi firmware
+	target_sources(mbed-wifi PRIVATE
+		resources/resource_imp/cy_ext_wifi_fw_resources.c)
+	target_link_libraries(mbed-wifi PUBLIC mbed-cy-external-wifi-fw)
+endif()
+
 target_compile_definitions(mbed-wifi
     PUBLIC
         MBED_CONF_CY_PSOC6_WHD_PRESENT=1
diff --git a/targets/TARGET_Cypress/TARGET_PSOC6/ext-wifi-fw/cy_ext_wifi_fw_resources.c b/connectivity/drivers/wifi/COMPONENT_WHD/wifi-host-driver/resources/resource_imp/cy_ext_wifi_fw_resources.c
similarity index 100%
rename from targets/TARGET_Cypress/TARGET_PSOC6/ext-wifi-fw/cy_ext_wifi_fw_resources.c
rename to connectivity/drivers/wifi/COMPONENT_WHD/wifi-host-driver/resources/resource_imp/cy_ext_wifi_fw_resources.c
diff --git a/storage/kvstore/kv_config/CMakeLists.txt b/storage/kvstore/kv_config/CMakeLists.txt
index 1e203875f31..f3897c30412 100644
--- a/storage/kvstore/kv_config/CMakeLists.txt
+++ b/storage/kvstore/kv_config/CMakeLists.txt
@@ -29,4 +29,9 @@ target_link_libraries(mbed-storage-kv-config
 
 if("DEVICE_FLASH=1" IN_LIST MBED_TARGET_DEFINITIONS)
     target_link_libraries(mbed-storage-kv-config PUBLIC mbed-storage-flashiap)
-endif()
\ No newline at end of file
+endif()
+
+if("TARGET_CY_EXTERNAL_WIFI_FW" IN_LIST MBED_TARGET_DEFINITIONS)
+    # On some Cypress PSOC6 targets, the external wifi fw library provides the definition of get_other_blockdevice()
+    target_link_libraries(mbed-storage-kv-config PUBLIC mbed-cy-external-wifi-fw)
+endif()
diff --git a/storage/platform/CMakeLists.txt b/storage/platform/CMakeLists.txt
index 3987e88b757..c05f6673cf3 100644
--- a/storage/platform/CMakeLists.txt
+++ b/storage/platform/CMakeLists.txt
@@ -14,6 +14,11 @@ list(APPEND mbed-storage-libs
     mbed-storage-littlefs-v2
 )
 
+if("TARGET_CY_EXTERNAL_WIFI_FW" IN_LIST MBED_TARGET_DEFINITIONS)
+    # On some Cypress PSOC6 targets, the external wifi fw library provides the definition of BlockDevice::get_default_instance()
+    target_link_libraries(mbed-storage PUBLIC mbed-cy-external-wifi-fw)
+endif()
+
 if("COMPONENT_DATAFLASH=1" IN_LIST MBED_TARGET_DEFINITIONS)
     list(APPEND mbed-storage-libs mbed-storage-dataflash)
 endif()
diff --git a/targets/TARGET_Cypress/CMakeLists.txt b/targets/TARGET_Cypress/CMakeLists.txt
index 4fd9dc77e90..b17a885706f 100644
--- a/targets/TARGET_Cypress/CMakeLists.txt
+++ b/targets/TARGET_Cypress/CMakeLists.txt
@@ -3,12 +3,4 @@
 
 add_subdirectory(TARGET_PSOC6 EXCLUDE_FROM_ALL)
 
-add_library(mbed-cy-external-wifi-fw INTERFACE)
-target_compile_definitions(mbed-cy-external-wifi-fw
-    INTERFACE
-        "CY_ENABLE_XIP_PROGRAM"
-        "CY_STORAGE_WIFI_DATA=\".cy_xip\""
-        "CY_STORAGE_WIFI_DATA_OUTPUT=cy_xip"
-        "CY_EXT_WIFI_FW_STORAGE=QSPIF"
-)
 
diff --git a/targets/TARGET_Cypress/TARGET_PSOC6/CMakeLists.txt b/targets/TARGET_Cypress/TARGET_PSOC6/CMakeLists.txt
index 5be31d4d688..372f443f0bd 100644
--- a/targets/TARGET_Cypress/TARGET_PSOC6/CMakeLists.txt
+++ b/targets/TARGET_Cypress/TARGET_PSOC6/CMakeLists.txt
@@ -2,6 +2,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 add_subdirectory(COMPONENT_SCL EXCLUDE_FROM_ALL)
+add_subdirectory(ext-wifi-fw EXCLUDE_FROM_ALL)
 
 add_library(mbed-cat1a INTERFACE)
 
diff --git a/targets/TARGET_Cypress/TARGET_PSOC6/ext-wifi-fw/CMakeLists.txt b/targets/TARGET_Cypress/TARGET_PSOC6/ext-wifi-fw/CMakeLists.txt
new file mode 100644
index 00000000000..66d1c9e67bf
--- /dev/null
+++ b/targets/TARGET_Cypress/TARGET_PSOC6/ext-wifi-fw/CMakeLists.txt
@@ -0,0 +1,15 @@
+add_library(mbed-cy-external-wifi-fw STATIC
+    cy_ext_wifi_fw_reserved_region_bd.cpp
+    CyReservedRegionBlockDevice.cpp)
+
+target_include_directories(mbed-cy-external-wifi-fw PUBLIC .)
+
+target_link_libraries(mbed-cy-external-wifi-fw PUBLIC
+    mbed-core-flags
+    mbed-storage-qspif)
+
+# Force linking of the cy_ext_wifi_fw_reserved_region_bd.o object file to correctly resolve weak symbols
+target_link_options(mbed-cy-external-wifi-fw
+    INTERFACE
+        LINKER:--undefined=force_link_cy_ext_wifi_fw_reserved_region_bd_o
+)
\ No newline at end of file
diff --git a/targets/TARGET_Cypress/TARGET_PSOC6/reserved-region-bd/CyReservedRegionBlockDevice.cpp b/targets/TARGET_Cypress/TARGET_PSOC6/ext-wifi-fw/CyReservedRegionBlockDevice.cpp
similarity index 100%
rename from targets/TARGET_Cypress/TARGET_PSOC6/reserved-region-bd/CyReservedRegionBlockDevice.cpp
rename to targets/TARGET_Cypress/TARGET_PSOC6/ext-wifi-fw/CyReservedRegionBlockDevice.cpp
diff --git a/targets/TARGET_Cypress/TARGET_PSOC6/reserved-region-bd/CyReservedRegionBlockDevice.h b/targets/TARGET_Cypress/TARGET_PSOC6/ext-wifi-fw/CyReservedRegionBlockDevice.h
similarity index 99%
rename from targets/TARGET_Cypress/TARGET_PSOC6/reserved-region-bd/CyReservedRegionBlockDevice.h
rename to targets/TARGET_Cypress/TARGET_PSOC6/ext-wifi-fw/CyReservedRegionBlockDevice.h
index be30b3e151a..67d7196e1e9 100644
--- a/targets/TARGET_Cypress/TARGET_PSOC6/reserved-region-bd/CyReservedRegionBlockDevice.h
+++ b/targets/TARGET_Cypress/TARGET_PSOC6/ext-wifi-fw/CyReservedRegionBlockDevice.h
@@ -27,6 +27,7 @@
 #define CY_RESERVED_REGION_BLOCK_DEVICE_H
 
 #include "mbed.h"
+#include "BlockDevice.h"
 
 /**
  * Block device for working via an underlying block device without altering
diff --git a/targets/TARGET_Cypress/TARGET_PSOC6/ext-wifi-fw/cy_ext_wifi_fw_reserved_region_bd.cpp b/targets/TARGET_Cypress/TARGET_PSOC6/ext-wifi-fw/cy_ext_wifi_fw_reserved_region_bd.cpp
index b149d4025ac..00dc39cbf78 100644
--- a/targets/TARGET_Cypress/TARGET_PSOC6/ext-wifi-fw/cy_ext_wifi_fw_reserved_region_bd.cpp
+++ b/targets/TARGET_Cypress/TARGET_PSOC6/ext-wifi-fw/cy_ext_wifi_fw_reserved_region_bd.cpp
@@ -86,3 +86,15 @@ BlockDevice *BlockDevice::get_default_instance()
 }
 
 #endif /* defined(CY_EXT_WIFI_FW_STORAGE) && !MBED_CONF_TARGET_XIP_ENABLE */
+
+/*
+ * With e.g. GCC linker option "--undefined=<LINK_FOO>", pull in this
+ * object file anyway for being able to override weak symbol successfully
+ * even though from static library. See:
+ * https://stackoverflow.com/questions/42588983/what-does-the-gnu-ld-undefined-option-do
+ *
+ * NOTE: For C++ name mangling, 'extern "C"' is necessary to match the
+ *       <LINK_FOO> symbol correctly.
+ */
+extern "C" void force_link_cy_ext_wifi_fw_reserved_region_bd_o()
+{}
diff --git a/connectivity/drivers/wifi/COMPONENT_WHD/whd-bsp-integration/cy_wifi_fw_section.h b/targets/TARGET_Cypress/TARGET_PSOC6/ext-wifi-fw/cy_wifi_fw_section.h
old mode 100755
new mode 100644
similarity index 100%
rename from connectivity/drivers/wifi/COMPONENT_WHD/whd-bsp-integration/cy_wifi_fw_section.h
rename to targets/TARGET_Cypress/TARGET_PSOC6/ext-wifi-fw/cy_wifi_fw_section.h
diff --git a/targets/targets.json5 b/targets/targets.json5
index ab79c466a4d..2d45a366c5f 100644
--- a/targets/targets.json5
+++ b/targets/targets.json5
@@ -9087,8 +9087,7 @@ mode is recommended for target MCUs with small amounts of flash and RAM.",
         "forced_reset_timeout": 5,
         "overrides": {
             "deep-sleep-latency": "CY_CFG_PWR_DEEPSLEEP_LATENCY"
-        },
-        "is_mcu_family_target": true
+        }
     },
     "MCU_PSOC6_M4": {
         "inherits": [
@@ -9113,6 +9112,18 @@ mode is recommended for target MCUs with small amounts of flash and RAM.",
             "full", "bare-metal"
         ]
     },
+    "MCU_PSOC62_CM4": {
+        "inherits": [
+            "MCU_PSOC6_M4"
+        ],
+        "is_mcu_family_target": true
+    },
+    "MCU_PSOC64_CM4": {
+        "inherits": [
+            "MCU_PSOC6_M4"
+        ],
+        "is_mcu_family_target": true
+    },
     "CY_EXTERNAL_WIFI_FW": {
         "public": false,
         "macros_add": [
@@ -9124,7 +9135,7 @@ mode is recommended for target MCUs with small amounts of flash and RAM.",
     },
     "CY8CPROTO_062_4343W": {
         "inherits": [
-            "MCU_PSOC6_M4"
+            "MCU_PSOC62_CM4"
         ],
         "features": [
             "BLE"
@@ -9173,7 +9184,7 @@ mode is recommended for target MCUs with small amounts of flash and RAM.",
     },
     "CY8CKIT_062S2_43012": {
         "inherits": [
-            "MCU_PSOC6_M4"
+            "MCU_PSOC62_CM4"
         ],
         "features": [
             "BLE"
@@ -9218,7 +9229,7 @@ mode is recommended for target MCUs with small amounts of flash and RAM.",
     },
     "CY8CPROTO_062S3_4343W": {
         "inherits": [
-            "MCU_PSOC6_M4",
+            "MCU_PSOC62_CM4",
             "CY_EXTERNAL_WIFI_FW"
         ],
         "features": [
@@ -9261,7 +9272,7 @@ mode is recommended for target MCUs with small amounts of flash and RAM.",
     },
     "CY8CKIT_062_WIFI_BT": { // AKA PSoC 6 WiFi-BT Pioneer Kit
         "inherits": [
-            "MCU_PSOC6_M4"
+            "MCU_PSOC62_CM4"
         ],
         "features": [
             "BLE"
@@ -9313,7 +9324,7 @@ mode is recommended for target MCUs with small amounts of flash and RAM.",
     },
     "CY8CKIT_062_BLE": { // AKA PSoC 6 BLE Pioneer Kit
         "inherits": [
-            "MCU_PSOC6_M4"
+            "MCU_PSOC62_CM4"
         ],
         "device_has_remove": [
             "USBDEVICE"
@@ -9352,7 +9363,7 @@ mode is recommended for target MCUs with small amounts of flash and RAM.",
     },
     "CYW9P62S1_43438EVB_01": { // AKA CYW9P62S1-43438EVB-01 PSoC 62S1 Wi-Fi BT Pioneer Kit
         "inherits": [
-            "MCU_PSOC6_M4"
+            "MCU_PSOC62_CM4"
         ],
         "features": [
             "BLE"
@@ -9406,7 +9417,7 @@ mode is recommended for target MCUs with small amounts of flash and RAM.",
     },
     "CYW9P62S1_43012EVB_01": { // AKA CYW9P62S1-43012EVB-01 PSoC 62S1 Wi-Fi BT Pioneer Kit
         "inherits": [
-            "MCU_PSOC6_M4"
+            "MCU_PSOC62_CM4"
         ],
         "features": [
             "BLE"
@@ -9453,7 +9464,7 @@ mode is recommended for target MCUs with small amounts of flash and RAM.",
     },
     "CY8CKIT064B0S2_4343W": { // AKA CY8CKIT-064B0S2-4343W PSoC 64 Secure Boot Wi-Fi BT Pioneer Kit
         "inherits": [
-            "MCU_PSOC6_M4"
+            "MCU_PSOC64_CM4"
         ],
         "supported_form_factors": [
             "ARDUINO_UNO"
@@ -9507,7 +9518,7 @@ mode is recommended for target MCUs with small amounts of flash and RAM.",
     },
     "CYTFM_064B0S2_4343W": { // Same as
         "inherits": [
-            "MCU_PSOC6_M4"
+            "MCU_PSOC64_CM4"
         ],
         "supported_form_factors": [
             "ARDUINO_UNO"
diff --git a/targets/upload_method_cfg/ARDUINO_GIGA_CM7.cmake b/targets/upload_method_cfg/ARDUINO_GIGA_CM7.cmake
index 0e531c32c20..20bff65effc 100644
--- a/targets/upload_method_cfg/ARDUINO_GIGA_CM7.cmake
+++ b/targets/upload_method_cfg/ARDUINO_GIGA_CM7.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target ARDUINO_GIGA_CM7.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. To use this target with PyOCD, you need to install a pack: `pyocd pack install STM32H747XIHx`.
diff --git a/targets/upload_method_cfg/ARDUINO_NANO33BLE.cmake b/targets/upload_method_cfg/ARDUINO_NANO33BLE.cmake
index 6f44168bee6..4adec4eeee5 100644
--- a/targets/upload_method_cfg/ARDUINO_NANO33BLE.cmake
+++ b/targets/upload_method_cfg/ARDUINO_NANO33BLE.cmake
@@ -1,6 +1,6 @@
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # General config parameters
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/ARDUINO_NANO33BLE_SWD.cmake b/targets/upload_method_cfg/ARDUINO_NANO33BLE_SWD.cmake
index 1ac0fe9f2ec..b0797e5cec5 100644
--- a/targets/upload_method_cfg/ARDUINO_NANO33BLE_SWD.cmake
+++ b/targets/upload_method_cfg/ARDUINO_NANO33BLE_SWD.cmake
@@ -1,6 +1,6 @@
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. Using pyocd with this device requires installing a pack: `pyocd pack install nrf52`.
@@ -22,6 +22,6 @@ set(PYOCD_CLOCK_SPEED 4000k)
 
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
-    -f ${OpenOCD_SCRIPT_DIR}/interface/cmsis-dap.cfg
+    -f interface/cmsis-dap.cfg
 	-c "transport select swd"
-	-f ${OpenOCD_SCRIPT_DIR}/target/nrf52.cfg)
\ No newline at end of file
+	-f target/nrf52.cfg)
\ No newline at end of file
diff --git a/targets/upload_method_cfg/ARDUINO_NICLA_SENSE_ME.cmake b/targets/upload_method_cfg/ARDUINO_NICLA_SENSE_ME.cmake
index 30bba7d18d9..c9fcd1eb2c1 100644
--- a/targets/upload_method_cfg/ARDUINO_NICLA_SENSE_ME.cmake
+++ b/targets/upload_method_cfg/ARDUINO_NICLA_SENSE_ME.cmake
@@ -1,6 +1,6 @@
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. Using pyocd with this device requires installing a pack: `pyocd pack install nrf52`.
@@ -22,6 +22,6 @@ set(PYOCD_CLOCK_SPEED 4000k)
 
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
-    -f ${OpenOCD_SCRIPT_DIR}/interface/cmsis-dap.cfg
+    -f interface/cmsis-dap.cfg
 	-c "transport select swd"
-	-f ${OpenOCD_SCRIPT_DIR}/target/nrf52.cfg)
\ No newline at end of file
+	-f target/nrf52.cfg)
\ No newline at end of file
diff --git a/targets/upload_method_cfg/ARDUINO_PORTENTA_H7_M7.cmake b/targets/upload_method_cfg/ARDUINO_PORTENTA_H7_M7.cmake
index 07f4ce4c097..22c6555c92d 100644
--- a/targets/upload_method_cfg/ARDUINO_PORTENTA_H7_M7.cmake
+++ b/targets/upload_method_cfg/ARDUINO_PORTENTA_H7_M7.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target ARDUINO_PORTENTA_H7_M7.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. To use this target with PyOCD, you need to install a pack: `pyocd pack install STM32H747XIHx`.
diff --git a/targets/upload_method_cfg/BLACKPILL_F411CE.cmake b/targets/upload_method_cfg/BLACKPILL_F411CE.cmake
index 78397a4c2e0..4fadd229db7 100644
--- a/targets/upload_method_cfg/BLACKPILL_F411CE.cmake
+++ b/targets/upload_method_cfg/BLACKPILL_F411CE.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target BLACKPILL_F411CE.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. Keep in mind the Blackpill does not contain any on-board debugger, so all upload methods counts with external debugger, usually ST-Link.
@@ -39,7 +39,7 @@ set(PYOCD_CLOCK_SPEED 4000k)
 
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
-    -f ${OpenOCD_SCRIPT_DIR}/board/st_nucleo_f4.cfg)
+    -f board/st_nucleo_f4.cfg)
 
 # Config options for STM32Cube
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/B_U585I_IOT02A.cmake b/targets/upload_method_cfg/B_U585I_IOT02A.cmake
index 24d04bc4efc..593b0f77a4b 100644
--- a/targets/upload_method_cfg/B_U585I_IOT02A.cmake
+++ b/targets/upload_method_cfg/B_U585I_IOT02A.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target B_U585_IOT02A.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. To use this target with PyOCD, you need to install a pack: `pyocd pack install STM32U585AIIxQ`.
diff --git a/targets/upload_method_cfg/CY8CPROTO_062S3_4343W.cmake b/targets/upload_method_cfg/CY8CPROTO_062S3_4343W.cmake
new file mode 100644
index 00000000000..1bdc1261df4
--- /dev/null
+++ b/targets/upload_method_cfg/CY8CPROTO_062S3_4343W.cmake
@@ -0,0 +1,51 @@
+# Mbed OS upload method configuration file for target CY8CPROTO_062S3_4343W.
+# To change any of these parameters from their default values, set them in your build script between where you
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
+
+# Notes:
+# 1. The KitProg3 programmer on this board boots up in KitProg mode. To enable mass storage device mode, press the
+#    button labeled "MODE" near the USB port to switch to DAPLink mode. The MBED and PYOCD upload methods need
+#    the board to be in DAPLink mode (which is deprecated by Infineon).
+# 2. Mbed upload method seems VERY slow on this board (takes like 1 minute to flash!).
+# 3. PyOCD is tested working correctly in DAPLink mode. In KitProg mode it can flash but debugging does
+#    not appear to work correctly.
+# 4. Infineon's fork of OpenOCD must be used to program this device as they have not yet upstreamed their
+#    changes. This can be downloaded from here: https://github.com/Infineon/openocd/releases
+#    Then configure CMake to use it with `-DOpenOCD=/path/to/infineon/openocd`
+# 5. If using the wi-fi module on this board, you need to flash the wi-fi module firmware to the QSPI flash.
+#    This is done automatically via Infineon's OpenOCD scripts when flashing any project that uses wifi with OpenOCD.
+#    Flashing via other methods will likely not work for wifi projects.
+
+# General config parameters
+# -------------------------------------------------------------
+set(UPLOAD_METHOD_DEFAULT MBED)
+
+# Generally we are only interested in the CM4 core which is index 1
+set(MBED_DEBUG_CORE_INDEX 1)
+
+# Config options for MBED
+# -------------------------------------------------------------
+
+set(MBED_UPLOAD_ENABLED TRUE)
+set(MBED_RESET_BAUDRATE 115200)
+
+# Config options for PYOCD
+# -------------------------------------------------------------
+
+set(PYOCD_UPLOAD_ENABLED TRUE)
+set(PYOCD_TARGET_NAME cy8c6xx5)
+set(PYOCD_CLOCK_SPEED 4000k)
+
+# Config options for OpenOCD
+# -------------------------------------------------------------
+
+set(OPENOCD_UPLOAD_ENABLED TRUE)
+set(OPENOCD_CHIP_CONFIG_COMMANDS
+        -s ${CMAKE_CURRENT_LIST_DIR}/openocd_cfgs/CY8CPROTO_062S3_4343W
+        -f ${CMAKE_CURRENT_LIST_DIR}/openocd_cfgs/infineon_psoc62_c8cxx5.cfg)
+
+# Seems like a regular 'monitor reset' does not work correctly for this chip. This is the command sequence
+# used by ModusToolbox IDE.
+set(OPENOCD_GDB_RESET_SEQUENCE
+    "monitor reset run"
+    "monitor psoc6 reset_halt sysresetreq")
\ No newline at end of file
diff --git a/targets/upload_method_cfg/DISCO_F469NI.cmake b/targets/upload_method_cfg/DISCO_F469NI.cmake
index 8e6a8ffbe79..7df4ace65db 100644
--- a/targets/upload_method_cfg/DISCO_F469NI.cmake
+++ b/targets/upload_method_cfg/DISCO_F469NI.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target DISCO_F469NI.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. Using the JLINK upload method with your dev board requires converting its ST-LINK into a J-Link.  See here for details: https://www.segger.com/products/debug-probes/j-link/models/other-j-links/st-link-on-board/
@@ -36,7 +36,7 @@ set(PYOCD_CLOCK_SPEED 4000k)
 
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
-    -f ${OpenOCD_SCRIPT_DIR}/board/stm32f4discovery.cfg)
+    -f board/stm32f4discovery.cfg)
 
 # Config options for STM32Cube
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/DISCO_F746NG.cmake b/targets/upload_method_cfg/DISCO_F746NG.cmake
index 5fca6ed14c2..1c3f362c1dc 100644
--- a/targets/upload_method_cfg/DISCO_F746NG.cmake
+++ b/targets/upload_method_cfg/DISCO_F746NG.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target DISCO_F746NG.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. Using the JLINK upload method with your dev board requires converting its ST-LINK into a J-Link.  See here for details: https://www.segger.com/products/debug-probes/j-link/models/other-j-links/st-link-on-board/
@@ -35,7 +35,7 @@ set(PYOCD_CLOCK_SPEED 4000k)
 
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
-    -f ${OpenOCD_SCRIPT_DIR}/board/stm32f7discovery.cfg)
+    -f board/stm32f7discovery.cfg)
 
 # Config options for STM32Cube
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/DISCO_F769NI.cmake b/targets/upload_method_cfg/DISCO_F769NI.cmake
index 08c5344f43a..397d75280b8 100644
--- a/targets/upload_method_cfg/DISCO_F769NI.cmake
+++ b/targets/upload_method_cfg/DISCO_F769NI.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target DISCO_F769NI.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. Using the JLINK upload method with your dev board requires converting its ST-LINK into a J-Link.  See here for details: https://www.segger.com/products/debug-probes/j-link/models/other-j-links/st-link-on-board/
@@ -35,7 +35,7 @@ set(PYOCD_CLOCK_SPEED 4000k)
 
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
-    -f ${OpenOCD_SCRIPT_DIR}/board/stm32f769i-disco.cfg)
+    -f board/stm32f769i-disco.cfg)
 
 # Config options for STM32Cube
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/DISCO_H573I.cmake b/targets/upload_method_cfg/DISCO_H573I.cmake
index 40f108254c1..140e8f1e72f 100644
--- a/targets/upload_method_cfg/DISCO_H573I.cmake
+++ b/targets/upload_method_cfg/DISCO_H573I.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target DISCO_H573I
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. If your target is not natively supported by the pyOCD, then you need install a keil package for family of your target by hands. Type "pyocd pack show" to console and you will see a list of already installed packages.
diff --git a/targets/upload_method_cfg/DISCO_L072CZ_LRWAN1.cmake b/targets/upload_method_cfg/DISCO_L072CZ_LRWAN1.cmake
index 3f1973e7585..fc37c88011e 100644
--- a/targets/upload_method_cfg/DISCO_L072CZ_LRWAN1.cmake
+++ b/targets/upload_method_cfg/DISCO_L072CZ_LRWAN1.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target DISCO_L072CZ_LRWAN1.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. To use this target with PyOCD, you need to install a pack: `python -m pyocd pack install STM32L072CZTx`.
@@ -37,7 +37,7 @@ set(PYOCD_CLOCK_SPEED 4000k)
 
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
--f ${OpenOCD_SCRIPT_DIR}/board/st_nucleo_l073rz.cfg)
+-f board/st_nucleo_l073rz.cfg)
 
 # Config options for STM32Cube
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/FF_LPC546XX.cmake b/targets/upload_method_cfg/FF_LPC546XX.cmake
index efa5c33ba79..55284bdac33 100644
--- a/targets/upload_method_cfg/FF_LPC546XX.cmake
+++ b/targets/upload_method_cfg/FF_LPC546XX.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target FF_LPC546XX.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 #
 # Notes:
 # 1. PyOCD support for this device requires installing a pack:
diff --git a/targets/upload_method_cfg/K64F.cmake b/targets/upload_method_cfg/K64F.cmake
index 8723b494155..a180f8ca66b 100644
--- a/targets/upload_method_cfg/K64F.cmake
+++ b/targets/upload_method_cfg/K64F.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target K64F.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 #
 # Notes:
 # 1. Be sure to update the DAPLink firmware on the board via these instructions: https://os.mbed.com/blog/entry/DAPLink-bootloader-update/
diff --git a/targets/upload_method_cfg/KL25Z.cmake b/targets/upload_method_cfg/KL25Z.cmake
index 553553d49c4..2e75f1139e8 100644
--- a/targets/upload_method_cfg/KL25Z.cmake
+++ b/targets/upload_method_cfg/KL25Z.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target KL25Z.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Note that KL25Z boards generally need a firmware update to DAPLink interface firmware before they can be used with modern tools.
 # The following steps worked for me on a Windows 11 PC:
diff --git a/targets/upload_method_cfg/LPC1768.cmake b/targets/upload_method_cfg/LPC1768.cmake
index 248633964b3..5bcc4eca221 100644
--- a/targets/upload_method_cfg/LPC1768.cmake
+++ b/targets/upload_method_cfg/LPC1768.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target LPC1768.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. LPC1768 is supposed to be supported by LinkServer, and I am able to get through flashing it, but it errors out at the end.
diff --git a/targets/upload_method_cfg/LPCXPRESSO_LPC1769.cmake b/targets/upload_method_cfg/LPCXPRESSO_LPC1769.cmake
index 824dc08f1ad..71a157cc13d 100644
--- a/targets/upload_method_cfg/LPCXPRESSO_LPC1769.cmake
+++ b/targets/upload_method_cfg/LPCXPRESSO_LPC1769.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target Embedded Artists LPCXPRESSO_LPC1768.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # General config parameters
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/MAX32670EVKIT.cmake b/targets/upload_method_cfg/MAX32670EVKIT.cmake
index 69fddd763de..fe1fb890ffa 100644
--- a/targets/upload_method_cfg/MAX32670EVKIT.cmake
+++ b/targets/upload_method_cfg/MAX32670EVKIT.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target MAX32670EVKIT.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. For the MBED upload method to work, you may need to update the DAPLink firmware as described here:
diff --git a/targets/upload_method_cfg/MIMXRT1050_EVK.cmake b/targets/upload_method_cfg/MIMXRT1050_EVK.cmake
index 24510fbe1f0..e79668b421c 100644
--- a/targets/upload_method_cfg/MIMXRT1050_EVK.cmake
+++ b/targets/upload_method_cfg/MIMXRT1050_EVK.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target MIMXRT1050_EVK.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # 1. Most debuggers cannot connect to this CPU after it does an NVIC system reset.  See Mbed CE bug #83.
 #      However, a workaround has been implemented for PyOCD.
diff --git a/targets/upload_method_cfg/MIMXRT1060_EVK.cmake b/targets/upload_method_cfg/MIMXRT1060_EVK.cmake
index b2b08dd366f..f208a23eff3 100644
--- a/targets/upload_method_cfg/MIMXRT1060_EVK.cmake
+++ b/targets/upload_method_cfg/MIMXRT1060_EVK.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target MIMXRT1060_EVK.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 #
 # Notes:
 # 1. Using the JLINK upload method requires either converting the board's LPC-Link into a J-Link, or
diff --git a/targets/upload_method_cfg/NRF52840_DK.cmake b/targets/upload_method_cfg/NRF52840_DK.cmake
index 5e9df0f77f6..17b812a72ce 100644
--- a/targets/upload_method_cfg/NRF52840_DK.cmake
+++ b/targets/upload_method_cfg/NRF52840_DK.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NRF52840_DK.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. If you have multiple Mbed devices plugged in to your machine, the MBED upload method only
diff --git a/targets/upload_method_cfg/NUCLEO_F303K8.cmake b/targets/upload_method_cfg/NUCLEO_F303K8.cmake
index 9822ab517a0..9e026eb38d8 100644
--- a/targets/upload_method_cfg/NUCLEO_F303K8.cmake
+++ b/targets/upload_method_cfg/NUCLEO_F303K8.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUCLEO_F303K8.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. Using the JLINK upload method with your dev board requires converting its ST-LINK into a J-Link.  See here for details: https://www.segger.com/products/debug-probes/j-link/models/other-j-links/st-link-on-board/
@@ -38,7 +38,7 @@ set(PYOCD_CLOCK_SPEED 4000k)
 
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
-    -f ${OpenOCD_SCRIPT_DIR}/board/st_nucleo_f3.cfg)
+    -f board/st_nucleo_f3.cfg)
 
 # Config options for STM32Cube
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/NUCLEO_F303RE.cmake b/targets/upload_method_cfg/NUCLEO_F303RE.cmake
index 3aee24154f2..a0785dde8a2 100644
--- a/targets/upload_method_cfg/NUCLEO_F303RE.cmake
+++ b/targets/upload_method_cfg/NUCLEO_F303RE.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUCLEO_F303RE.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. Using the JLINK upload method with your dev board requires converting its ST-LINK into a J-Link.  See here for details: https://www.segger.com/products/debug-probes/j-link/models/other-j-links/st-link-on-board/
@@ -37,7 +37,7 @@ set(PYOCD_CLOCK_SPEED 4000k)
 
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
-    -f ${OpenOCD_SCRIPT_DIR}/board/st_nucleo_f3.cfg)
+    -f board/st_nucleo_f3.cfg)
 
 # Config options for STM32Cube
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/NUCLEO_F429ZI.cmake b/targets/upload_method_cfg/NUCLEO_F429ZI.cmake
index 9f9b1afdbaf..d3dfd32509e 100644
--- a/targets/upload_method_cfg/NUCLEO_F429ZI.cmake
+++ b/targets/upload_method_cfg/NUCLEO_F429ZI.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUCLEO_F429ZI.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. Using the JLINK upload method with your dev board requires converting its ST-LINK into a J-Link.  See here for details: https://www.segger.com/products/debug-probes/j-link/models/other-j-links/st-link-on-board/
diff --git a/targets/upload_method_cfg/NUCLEO_F446RE.cmake b/targets/upload_method_cfg/NUCLEO_F446RE.cmake
index 5b355b79b98..0144a0b8c0f 100644
--- a/targets/upload_method_cfg/NUCLEO_F446RE.cmake
+++ b/targets/upload_method_cfg/NUCLEO_F446RE.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUCLEO_F446RE.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. Using the JLINK upload method with your dev board requires converting its ST-LINK into a J-Link.  See here for details: https://www.segger.com/products/debug-probes/j-link/models/other-j-links/st-link-on-board/
@@ -39,7 +39,7 @@ set(PYOCD_CLOCK_SPEED 4000k)
 
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
-    -f ${OpenOCD_SCRIPT_DIR}/board/st_nucleo_f4.cfg)
+    -f board/st_nucleo_f4.cfg)
 
 # Config options for STM32Cube
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/NUCLEO_F746ZG.cmake b/targets/upload_method_cfg/NUCLEO_F746ZG.cmake
index 30d21396781..9e9b481a7dc 100644
--- a/targets/upload_method_cfg/NUCLEO_F746ZG.cmake
+++ b/targets/upload_method_cfg/NUCLEO_F746ZG.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUCLEO_F746ZG.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. Using the JLINK upload method with your dev board requires converting its ST-LINK into a J-Link.  See here for details: https://www.segger.com/products/debug-probes/j-link/models/other-j-links/st-link-on-board/
@@ -35,7 +35,7 @@ set(PYOCD_CLOCK_SPEED 4000k)
 
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
-    -f ${OpenOCD_SCRIPT_DIR}/board/st_nucleo_f7.cfg)
+    -f board/st_nucleo_f7.cfg)
 
 # Config options for STM32Cube
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/NUCLEO_F767ZI.cmake b/targets/upload_method_cfg/NUCLEO_F767ZI.cmake
index 1504747e6a8..5a5419df14e 100644
--- a/targets/upload_method_cfg/NUCLEO_F767ZI.cmake
+++ b/targets/upload_method_cfg/NUCLEO_F767ZI.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUCLEO_F767ZI.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. Using the JLINK upload method with your dev board requires converting its ST-LINK into a J-Link.  See here for details: https://www.segger.com/products/debug-probes/j-link/models/other-j-links/st-link-on-board/
@@ -35,7 +35,7 @@ set(PYOCD_CLOCK_SPEED 4000k)
 
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
-    -f ${OpenOCD_SCRIPT_DIR}/board/st_nucleo_f7.cfg)
+    -f board/st_nucleo_f7.cfg)
 
 # Config options for STM32Cube
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/NUCLEO_H503RB.cmake b/targets/upload_method_cfg/NUCLEO_H503RB.cmake
index 0a45f368ded..a9c9f4e29ba 100644
--- a/targets/upload_method_cfg/NUCLEO_H503RB.cmake
+++ b/targets/upload_method_cfg/NUCLEO_H503RB.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUCLEO_H503RB.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. If your target is not natively supported by the pyOCD, then you need install a keil package for family of your target by hands. Type "pyocd pack show" to console and you will see a list of already installed packages.
diff --git a/targets/upload_method_cfg/NUCLEO_H563ZI.cmake b/targets/upload_method_cfg/NUCLEO_H563ZI.cmake
index 5a1477cc84e..17be447c01e 100644
--- a/targets/upload_method_cfg/NUCLEO_H563ZI.cmake
+++ b/targets/upload_method_cfg/NUCLEO_H563ZI.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUCLEO_H563ZI.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. If your target is not natively supported by the pyOCD, then you need install a keil package for family of your target by hands. Type "pyocd pack show" to console and you will see a list of already installed packages.
diff --git a/targets/upload_method_cfg/NUCLEO_H723ZG.cmake b/targets/upload_method_cfg/NUCLEO_H723ZG.cmake
index 3b7ad8a865e..2fea190d7b7 100644
--- a/targets/upload_method_cfg/NUCLEO_H723ZG.cmake
+++ b/targets/upload_method_cfg/NUCLEO_H723ZG.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUCLEO_H723ZG.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. To use this target with PyOCD, you need to install a pack: `pyocd pack install STM32H723ZGTx`.
diff --git a/targets/upload_method_cfg/NUCLEO_H743ZI2.cmake b/targets/upload_method_cfg/NUCLEO_H743ZI2.cmake
index 93d74739e5a..f80000c8556 100644
--- a/targets/upload_method_cfg/NUCLEO_H743ZI2.cmake
+++ b/targets/upload_method_cfg/NUCLEO_H743ZI2.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUCLEO_H743ZI.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. Using the JLINK upload method with your dev board requires converting its ST-LINK into a J-Link, but it is not possible to do that with ST-link V3! I will try regular J-link in the future.
@@ -37,7 +37,7 @@ set(PYOCD_CLOCK_SPEED 4000k)
 
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
-    -f ${OpenOCD_SCRIPT_DIR}/board/st_nucleo_h743zi.cfg)
+    -f board/st_nucleo_h743zi.cfg)
 
 # Config options for STM32Cube
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/NUCLEO_L152RE.cmake b/targets/upload_method_cfg/NUCLEO_L152RE.cmake
index 6f3c93a3d4e..1daaf6a6bb4 100644
--- a/targets/upload_method_cfg/NUCLEO_L152RE.cmake
+++ b/targets/upload_method_cfg/NUCLEO_L152RE.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUCLEO_L152RE.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. Using the JLINK upload method with your dev board requires converting its ST-LINK into a J-Link.  See here for details: https://www.segger.com/products/debug-probes/j-link/models/other-j-links/st-link-on-board/
@@ -39,7 +39,7 @@ set(PYOCD_CLOCK_SPEED 4000k)
 
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
--f ${OpenOCD_SCRIPT_DIR}/board/st_nucleo_l1.cfg)
+-f board/st_nucleo_l1.cfg)
 
 # Config options for STM32Cube
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/NUCLEO_L432KC.cmake b/targets/upload_method_cfg/NUCLEO_L432KC.cmake
index d461cef640f..7e886266ae8 100644
--- a/targets/upload_method_cfg/NUCLEO_L432KC.cmake
+++ b/targets/upload_method_cfg/NUCLEO_L432KC.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUCLEO_L432KC.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. Using the JLINK upload method with your dev board requires converting its ST-LINK into a J-Link.  See here for details: https://www.segger.com/products/debug-probes/j-link/models/other-j-links/st-link-on-board/
@@ -38,7 +38,7 @@ set(PYOCD_CLOCK_SPEED 4000k)
 
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
--f ${OpenOCD_SCRIPT_DIR}/board/st_nucleo_l4.cfg)
+-f board/st_nucleo_l4.cfg)
 
 # Config options for STM32Cube
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/NUCLEO_L452RE_P.cmake b/targets/upload_method_cfg/NUCLEO_L452RE_P.cmake
index 10e2034df1a..364c38824df 100644
--- a/targets/upload_method_cfg/NUCLEO_L452RE_P.cmake
+++ b/targets/upload_method_cfg/NUCLEO_L452RE_P.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUCLEO_F429ZI.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. Using the JLINK upload method with your dev board requires converting its ST-LINK into a J-Link.  See here for details: https://www.segger.com/products/debug-probes/j-link/models/other-j-links/st-link-on-board/
diff --git a/targets/upload_method_cfg/NUCLEO_U083RC.cmake b/targets/upload_method_cfg/NUCLEO_U083RC.cmake
index 44041145938..e0c5aad092e 100644
--- a/targets/upload_method_cfg/NUCLEO_U083RC.cmake
+++ b/targets/upload_method_cfg/NUCLEO_U083RC.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUCLEO_U083RC.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. If your target is not natively supported by the pyOCD, then you need install a keil package for family of your target by hands. Type "pyocd pack show" to console and you will see a list of already installed packages.
diff --git a/targets/upload_method_cfg/NUCLEO_U575ZI_Q.cmake b/targets/upload_method_cfg/NUCLEO_U575ZI_Q.cmake
index 66d25bce4e2..fea82965b7b 100644
--- a/targets/upload_method_cfg/NUCLEO_U575ZI_Q.cmake
+++ b/targets/upload_method_cfg/NUCLEO_U575ZI_Q.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUCLEO_U575ZI_Q.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. To use this target with PyOCD, you need to install a pack: `pyocd pack install STM32U575ZITxQ`.
diff --git a/targets/upload_method_cfg/NUMAKER_IOT_M252.cmake b/targets/upload_method_cfg/NUMAKER_IOT_M252.cmake
index 75e33f5394d..5704b5f663b 100644
--- a/targets/upload_method_cfg/NUMAKER_IOT_M252.cmake
+++ b/targets/upload_method_cfg/NUMAKER_IOT_M252.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUMAKER_IOT_M252.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # General config parameters
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/NUMAKER_IOT_M263A.cmake b/targets/upload_method_cfg/NUMAKER_IOT_M263A.cmake
index 7b483f05ef0..87bdebc95da 100644
--- a/targets/upload_method_cfg/NUMAKER_IOT_M263A.cmake
+++ b/targets/upload_method_cfg/NUMAKER_IOT_M263A.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUMAKER_IOT_M263A.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # General config parameters
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/NUMAKER_IOT_M467.cmake b/targets/upload_method_cfg/NUMAKER_IOT_M467.cmake
index af769c889f4..69cc189a09f 100644
--- a/targets/upload_method_cfg/NUMAKER_IOT_M467.cmake
+++ b/targets/upload_method_cfg/NUMAKER_IOT_M467.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUMAKER_IOT_M467.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # General config parameters
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/NUMAKER_IOT_M487.cmake b/targets/upload_method_cfg/NUMAKER_IOT_M487.cmake
index fa5bd7b185d..f26bbd23a4c 100644
--- a/targets/upload_method_cfg/NUMAKER_IOT_M487.cmake
+++ b/targets/upload_method_cfg/NUMAKER_IOT_M487.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUMAKER_IOT_M487.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. The Nuvoton fork of OpenOCD is required: https://github.com/OpenNuvoton/OpenOCD-Nuvoton/releases .
diff --git a/targets/upload_method_cfg/NUMAKER_PFM_M453.cmake b/targets/upload_method_cfg/NUMAKER_PFM_M453.cmake
index fd6f99cb6ca..9a8ba6e3ddf 100644
--- a/targets/upload_method_cfg/NUMAKER_PFM_M453.cmake
+++ b/targets/upload_method_cfg/NUMAKER_PFM_M453.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUMAKER_PFM_M453.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # General config parameters
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/NUMAKER_PFM_M487.cmake b/targets/upload_method_cfg/NUMAKER_PFM_M487.cmake
index e1a0c242943..621446f0126 100644
--- a/targets/upload_method_cfg/NUMAKER_PFM_M487.cmake
+++ b/targets/upload_method_cfg/NUMAKER_PFM_M487.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUMAKER_PFM_M487.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. The Nuvoton fork of OpenOCD is required: https://github.com/OpenNuvoton/OpenOCD-Nuvoton/releases .
diff --git a/targets/upload_method_cfg/NUMAKER_PFM_NANO130.cmake b/targets/upload_method_cfg/NUMAKER_PFM_NANO130.cmake
index 9f32ef12033..6eb34c64786 100644
--- a/targets/upload_method_cfg/NUMAKER_PFM_NANO130.cmake
+++ b/targets/upload_method_cfg/NUMAKER_PFM_NANO130.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUMAKER_PFM_NANO130.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # General config parameters
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/NUMAKER_PFM_NUC472.cmake b/targets/upload_method_cfg/NUMAKER_PFM_NUC472.cmake
index b0fcaa85f7a..9da101a6be9 100644
--- a/targets/upload_method_cfg/NUMAKER_PFM_NUC472.cmake
+++ b/targets/upload_method_cfg/NUMAKER_PFM_NUC472.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NUMAKER_PFM_NUC472.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # General config parameters
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/NU_M2354.cmake b/targets/upload_method_cfg/NU_M2354.cmake
index 92b00d6af23..e8a7e48eb14 100644
--- a/targets/upload_method_cfg/NU_M2354.cmake
+++ b/targets/upload_method_cfg/NU_M2354.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target NU_M2354.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # General config parameters
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/RASPBERRY_PI_PICO.cmake b/targets/upload_method_cfg/RASPBERRY_PI_PICO.cmake
index d5952a69ea0..5b71364fb27 100644
--- a/targets/upload_method_cfg/RASPBERRY_PI_PICO.cmake
+++ b/targets/upload_method_cfg/RASPBERRY_PI_PICO.cmake
@@ -3,7 +3,7 @@
 # into bootloader mode whenever you wish to program it.
 # Note: If you have a debugger connected to your board, you should be using the RASPBERRY_PI_PICO_SWD target instead.
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # General config parameters
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/RASPBERRY_PI_PICO_SWD.cmake b/targets/upload_method_cfg/RASPBERRY_PI_PICO_SWD.cmake
index b2e215e6bd4..30bf578399e 100644
--- a/targets/upload_method_cfg/RASPBERRY_PI_PICO_SWD.cmake
+++ b/targets/upload_method_cfg/RASPBERRY_PI_PICO_SWD.cmake
@@ -4,7 +4,7 @@
 # another SWD debugger like a Pitaya-Link.
 
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # General config parameters
 # -------------------------------------------------------------
@@ -22,8 +22,8 @@ set(PYOCD_CLOCK_SPEED 4000k)
 
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
-    -f ${OpenOCD_SCRIPT_DIR}/interface/cmsis-dap.cfg
-	-f ${OpenOCD_SCRIPT_DIR}/target/rp2040.cfg
+    -f interface/cmsis-dap.cfg
+	-f target/rp2040.cfg
 	-c "set USE_CORE 0" # Don't pause core 1 as that causes weird effects like keeping the TIMER stuck at 0: https://github.com/raspberrypi/picoprobe/issues/45
 	-c "adapter speed 4000"
 )
diff --git a/targets/upload_method_cfg/WIO_H725AE.cmake b/targets/upload_method_cfg/WIO_H725AE.cmake
index e5c82d5d1ec..b59c0a0dc3c 100644
--- a/targets/upload_method_cfg/WIO_H725AE.cmake
+++ b/targets/upload_method_cfg/WIO_H725AE.cmake
@@ -1,6 +1,6 @@
 # Mbed OS upload method configuration file for target WIO_H725AE
 # 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.
+# include mbed_toolchain_setup and where you add mbed os as a subdirectory.
 
 # Notes:
 # 1. Keep in mind the WIO_H725AE does not contain any on-board debugger, so all upload methods counts with external debugger, usually ST-Link.
diff --git a/targets/upload_method_cfg/openocd_cfgs/CY8CPROTO_062S3_4343W/qspi_config.cfg b/targets/upload_method_cfg/openocd_cfgs/CY8CPROTO_062S3_4343W/qspi_config.cfg
new file mode 100644
index 00000000000..2e7a528303f
--- /dev/null
+++ b/targets/upload_method_cfg/openocd_cfgs/CY8CPROTO_062S3_4343W/qspi_config.cfg
@@ -0,0 +1,29 @@
+################################################################################
+# File Name: qspi_config.cfg
+#
+# Description:
+# This file contains a SMIF Bank layout for use with OpenOCD.
+# This file was automatically generated and should not be modified.
+# QSPI Configurator: 4.50.0.2481
+#
+################################################################################
+# Copyright 2025 Cypress Semiconductor Corporation (an Infineon company) or
+# an affiliate of Cypress Semiconductor Corporation.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+################################################################################
+
+set SMIF_BANKS {
+  0 {addr 0x18000000 size 0x4000000 psize 0x00000200 esize 0x00040000}
+}
diff --git a/targets/upload_method_cfg/openocd_cfgs/infineon_psoc62_c8cxx5.cfg b/targets/upload_method_cfg/openocd_cfgs/infineon_psoc62_c8cxx5.cfg
new file mode 100644
index 00000000000..e68c9079a8f
--- /dev/null
+++ b/targets/upload_method_cfg/openocd_cfgs/infineon_psoc62_c8cxx5.cfg
@@ -0,0 +1,8 @@
+# This config file generated by Infineon ModusToolbox
+
+source [find interface/kitprog3.cfg]
+
+transport select swd
+
+source [find target/infineon/cy8cxx5.cfg]
+psoc6 sflash_restrictions 1
diff --git a/tools/cmake/UploadMethodManager.cmake b/tools/cmake/UploadMethodManager.cmake
index be3ff13bee9..4275750f695 100644
--- a/tools/cmake/UploadMethodManager.cmake
+++ b/tools/cmake/UploadMethodManager.cmake
@@ -8,42 +8,35 @@
 #    bootloader or TF-M enabled which need to post-build process images.
 # 2. "load <app>.bin" is not considered because GDB load command
 #    doesn't support binary format.
-#
-# NOTE: Place at the very start so that it can override by the below loaded
-#       upload method if need be.
-function(mbed_adjust_upload_debug_commands target)
-    # MBED_UPLOAD_LAUNCH_COMMANDS_BAK = first version of MBED_UPLOAD_LAUNCH_COMMANDS
-    if(DEFINED MBED_UPLOAD_LAUNCH_COMMANDS_BAK)
-        # Need first version for fresh adjust
-        set(MBED_UPLOAD_LAUNCH_COMMANDS ${MBED_UPLOAD_LAUNCH_COMMANDS_BAK})
-    elseif(DEFINED MBED_UPLOAD_LAUNCH_COMMANDS)
-        # No FORCE for saving first version only
-        set(MBED_UPLOAD_LAUNCH_COMMANDS_BAK ${MBED_UPLOAD_LAUNCH_COMMANDS} CACHE INTERNAL "")
-    else()
-        return()
-    endif()
+function(mbed_get_upload_launch_commands_for target result_var)
+
+	set(${result_var} ${MBED_UPLOAD_LAUNCH_COMMANDS})
+
+	# <app>.hex for debug launch load
+	set(HEX_FILE ${CMAKE_CURRENT_BINARY_DIR}/$<TARGET_FILE_BASE_NAME:${target}>.hex)
+
 
     # GDB load command in MBED_UPLOAD_LAUNCH_COMMANDS?
     list(FIND MBED_UPLOAD_LAUNCH_COMMANDS "load" LOAD_INDEX)
-    if(${LOAD_INDEX} LESS "0")
-        return()
+    if(${LOAD_INDEX} GREATER_EQUAL 0)
+		# "load" -> "load <app>.hex"
+		#
+		# GDB load command doesn't support binary format. Ignore OUTPUT_EXT
+		# and fix to Intel Hex format.
+		#
+		# NOTE: The <app>.hex file name needs to be quoted (\") to pass along
+		#       to gdb correctly.
+		list(TRANSFORM ${result_var} APPEND " \"${HEX_FILE}\"" AT ${LOAD_INDEX})
     endif()
 
-    # <app>.hex for debug launch load
-    set(HEX_FILE ${CMAKE_CURRENT_BINARY_DIR}/$<TARGET_FILE_BASE_NAME:${target}>.hex)
-
-    # "load" -> "load <app>.hex"
-    #
-    # GDB load command doesn't support binary format. Ignore OUTPUT_EXT
-    # and fix to Intel Hex format.
-    #
-    # NOTE: The <app>.hex file name needs to be quoted (\") to pass along
-    #       to gdb correctly.
-    list(TRANSFORM MBED_UPLOAD_LAUNCH_COMMANDS APPEND " \"${HEX_FILE}\"" AT ${LOAD_INDEX})
+	# 'monitor program' command in MBED_UPLOAD_LAUNCH_COMMANDS?
+    list(FIND MBED_UPLOAD_LAUNCH_COMMANDS "monitor program" MON_PROG_INDEX)
+    if(${MON_PROG_INDEX} GREATER_EQUAL 0)
+		list(TRANSFORM ${result_var} APPEND " \"${HEX_FILE}\"" AT ${MON_PROG_INDEX})
+    endif()
 
-    # Update MBED_UPLOAD_LAUNCH_COMMANDS in cache
-    set(MBED_UPLOAD_LAUNCH_COMMANDS ${MBED_UPLOAD_LAUNCH_COMMANDS} CACHE INTERNAL "" FORCE)
-endfunction()
+	set(${result_var} ${${result_var}} PARENT_SCOPE)
+endfunction(mbed_get_upload_launch_commands_for)
 
 # ----------------------------------------------
 # Common upload method options
@@ -94,6 +87,11 @@ if(NOT DEFINED MBED_UPLOAD_BASE_ADDR OR "${MBED_UPLOAD_BASE_ADDR}" STREQUAL "")
 	endif()
 endif()
 
+## Debug core index
+if(NOT DEFINED MBED_DEBUG_CORE_INDEX)
+	set(MBED_DEBUG_CORE_INDEX 0)
+endif()
+
 # ----------------------------------------------
 # Load the upload method.
 # Upload methods are expected to refer to the following variables:
diff --git a/tools/cmake/mbed_ide_debug_cfg_generator.cmake b/tools/cmake/mbed_ide_debug_cfg_generator.cmake
index 01741071db6..8e1e4ce3bbf 100644
--- a/tools/cmake/mbed_ide_debug_cfg_generator.cmake
+++ b/tools/cmake/mbed_ide_debug_cfg_generator.cmake
@@ -138,7 +138,8 @@ elseif(MBED_GENERATE_VS_CODE_DEBUG_CFGS)
 	    set(CONFIG_NAME "Debug ${CMAKE_TARGET} ${MBED_TARGET} ${CMAKE_BUILD_TYPE}")
 
 		# Escape quotes in the launch commands
-		string(REPLACE "\"" "\\\"" UPLOAD_LAUNCH_COMMANDS_FOR_JSON "${MBED_UPLOAD_LAUNCH_COMMANDS}")
+		mbed_get_upload_launch_commands_for(${target} TARGET_UPLOAD_LAUNCH_COMMANDS)
+		string(REPLACE "\"" "\\\"" UPLOAD_LAUNCH_COMMANDS_FOR_JSON "${TARGET_UPLOAD_LAUNCH_COMMANDS}")
 		string(REPLACE "\"" "\\\"" UPLOAD_RESTART_COMMANDS_FOR_JSON "${MBED_UPLOAD_RESTART_COMMANDS}")
 
 		# Convert CMake lists to json
@@ -270,12 +271,14 @@ elseif(MBED_UPLOAD_SUPPORTS_DEBUG)
 			set(UPLOAD_GDB_REMOTE_KEYWORD "remote")
 		endif()
 
-		list(JOIN MBED_UPLOAD_LAUNCH_COMMANDS "\n" MBED_UPLOAD_LAUNCH_COMMANDS_FOR_GDBINIT)
+		mbed_get_upload_launch_commands_for(${target} TARGET_UPLOAD_LAUNCH_COMMANDS)
+
+		list(JOIN TARGET_UPLOAD_LAUNCH_COMMANDS "\n" UPLOAD_LAUNCH_COMMANDS_FOR_GDBINIT)
 
 		file(GENERATE OUTPUT ${CMAKE_BINARY_DIR}/$<TARGET_FILE_BASE_NAME:${CMAKE_TARGET}>.gdbinit CONTENT
 "# connect to GDB server
 target ${UPLOAD_GDB_REMOTE_KEYWORD} 127.0.0.1:${MBED_GDB_PORT}
-${MBED_UPLOAD_LAUNCH_COMMANDS_FOR_GDBINIT}
+${UPLOAD_LAUNCH_COMMANDS_FOR_GDBINIT}
 c"
 )
 
diff --git a/tools/cmake/mbed_target_functions.cmake b/tools/cmake/mbed_target_functions.cmake
index e785e06139a..645d15563f2 100644
--- a/tools/cmake/mbed_target_functions.cmake
+++ b/tools/cmake/mbed_target_functions.cmake
@@ -188,13 +188,6 @@ function(mbed_set_post_build target)
     endif()
 
     mbed_generate_map_file(${target})
-
-    # Give chance to adjust MBED_UPLOAD_LAUNCH_COMMANDS or MBED_UPLOAD_RESTART_COMMANDS
-    # for debug launch
-    if(COMMAND mbed_adjust_upload_debug_commands)
-        mbed_adjust_upload_debug_commands(${target})
-    endif()
-
     mbed_generate_upload_target(${target})
     mbed_generate_ide_debug_configuration(${target})
 endfunction()
diff --git a/tools/cmake/upload_methods/FindOpenOCD.cmake b/tools/cmake/upload_methods/FindOpenOCD.cmake
index c3d51ec37eb..369ee529134 100644
--- a/tools/cmake/upload_methods/FindOpenOCD.cmake
+++ b/tools/cmake/upload_methods/FindOpenOCD.cmake
@@ -7,7 +7,6 @@
 #
 # This module defines:
 # OpenOCD - full path to OpenOCD executable
-# OpenOCD_SCRIPT_DIR - Path containing OpenOCD scripts
 # OpenOCD_FOUND - whether or not the OpenOCD executable was found
 
 set(OpenOCD_PATHS "")
@@ -28,35 +27,28 @@ endif()
 
 find_program(OpenOCD NAMES openocd PATHS ${OpenOCD_PATHS} DOC "Path to the openocd executable")
 
-# guess a script dir based on the executable path
-set(OpenOCD_SCRIPT_DIR_HINTS "")
-if(EXISTS ${OpenOCD})
-    get_filename_component(OpenOCD_EXECUTABLE_DIR ${OpenOCD} DIRECTORY)
-
-    # on Windows it's in ../scripts, on Linux it's in ../share/openocd/scripts
-    set(OpenOCD_SCRIPT_DIR_HINTS HINTS ${OpenOCD_EXECUTABLE_DIR}/../scripts ${OpenOCD_EXECUTABLE_DIR}/../share/openocd/scripts)
-endif()
-
-find_path(OpenOCD_SCRIPT_DIR
-    NAMES interface/cmsis-dap.cfg
-    ${OpenOCD_SCRIPT_DIR_HINTS}
-    PATHS /usr/share/openocd/scripts/
-    DOC "Path to OpenOCD scripts folder.  Should contain interface/cmsis-dap.cfg.")
-
 if(OpenOCD AND EXISTS "${OpenOCD}")
-    # Detect version (it writes to stderr)
+    # Detect version. Most versions write to stderr but some (Infineon OpenOCD) write to stdout
     execute_process(COMMAND ${OpenOCD} --version
-        ERROR_VARIABLE OpenOCD_VERSION_OUTPUT)
+        ERROR_VARIABLE OpenOCD_VERSION_ERROR_OUTPUT
+        OUTPUT_VARIABLE OpenOCD_VERSION_OUTPUT
+        COMMAND_ERROR_IS_FATAL ANY)
 
     # Use a regex to grab the version number
-    string(REGEX MATCH "Open On-Chip Debugger ([^ ]+)" OpenOCD_VERSION_UNUSED_MATCH "${OpenOCD_VERSION_OUTPUT}")
-    set(OpenOCD_VERSION ${CMAKE_MATCH_1})
+    if("${OpenOCD_VERSION_ERROR_OUTPUT}" MATCHES "Open On-Chip Debugger ([^ ]+)")
+        set(OpenOCD_VERSION ${CMAKE_MATCH_1})
+    elseif("${OpenOCD_VERSION_OUTPUT}" MATCHES "Open On-Chip Debugger ([^ ]+)")
+        set(OpenOCD_VERSION ${CMAKE_MATCH_1})
+    else()
+        message(WARNING "Unable to determine OpenOCD version")
+    endif()
+
 endif()
 
 find_package_handle_standard_args(OpenOCD
     HANDLE_VERSION_RANGE
     FOUND_VAR OpenOCD_FOUND
     VERSION_VAR OpenOCD_VERSION
-    REQUIRED_VARS OpenOCD OpenOCD_SCRIPT_DIR)
+    REQUIRED_VARS OpenOCD)
 
 
diff --git a/tools/cmake/upload_methods/UploadMethodOPENOCD.cmake b/tools/cmake/upload_methods/UploadMethodOPENOCD.cmake
index 7dee8d8cfa0..7727ff6278c 100644
--- a/tools/cmake/upload_methods/UploadMethodOPENOCD.cmake
+++ b/tools/cmake/upload_methods/UploadMethodOPENOCD.cmake
@@ -9,6 +9,8 @@
 # This method creates the following options:
 # OPENOCD_VERSION_RANGE - Acceptable version range of OpenOCD.  This may be a single version, in which case it is treated as
 #   a minimum, or a versionMin...<versionMax constraint, e.g. 0.12...<0.13, to accept any 0.12.x version but not 0.13 or higher.
+# OPENOCD_GDB_RESET_SEQUENCE - Sequence of GDB commands that should be sent to cause a chip reset and halt.
+#   This is normally just 'monitor reset halt' but can vary depending on MCU.
 
 set(UPLOAD_SUPPORTS_DEBUG TRUE)
 
@@ -41,34 +43,54 @@ endif()
 
 function(gen_upload_target TARGET_NAME BINARY_FILE)
 
+	# If given a hex file, the hex file already contains the correct offset to program at, so don't pass
+	# that to OpenOCD
+	if(BINARY_FILE MATCHES ".hex$")
+		set(UPLOAD_ADDRESS_ARG "")
+	else()
+		set(UPLOAD_ADDRESS_ARG ${MBED_UPLOAD_BASE_ADDR})
+	endif()
+
 	add_custom_target(flash-${TARGET_NAME}
 		COMMENT "Flashing ${TARGET_NAME} with OpenOCD..."
 		COMMAND ${OpenOCD}
 		${OPENOCD_CHIP_CONFIG_COMMANDS}
 		${OPENOCD_ADAPTER_SERIAL_COMMAND}
 		-c "gdb_port disabled" # Don't start a GDB server when just programming
-		-c "program ${BINARY_FILE} ${MBED_UPLOAD_BASE_ADDR} reset exit"
+		-c "program ${BINARY_FILE} ${UPLOAD_ADDRESS_ARG} reset exit"
 		VERBATIM
 		USES_TERMINAL)
 
 endfunction(gen_upload_target)
 
 ### Commands to run the debug server.
+
+# Like PyOCD, OpenOCD will start a GDB server for each core, so we need to offset the port number
+# down by the core index we want to connect to
+math(EXPR OPENOCD_GDB_PORT "${MBED_GDB_PORT} - ${MBED_DEBUG_CORE_INDEX}")
+
 set(UPLOAD_GDBSERVER_DEBUG_COMMAND
 	${OpenOCD}
 	${OPENOCD_CHIP_CONFIG_COMMANDS}
 	${OPENOCD_ADAPTER_SERIAL_COMMAND}
-	# Shut down OpenOCD when GDB disconnects.
+	# Shut down OpenOCD when GDB disconnects from the core being debugged.
 	# see https://github.com/Marus/cortex-debug/issues/371#issuecomment-999727626
-	-c "[target current] configure -event gdb-detach {shutdown}"
-	-c "gdb_port ${MBED_GDB_PORT}")
+	# However, we had to modify this a bit for multicore support.
+	# [target names] returns a list of all targets configured, and
+	# [lindex <list> <index>] gets an item from the list by index.
+	-c "[lindex [target names] ${MBED_DEBUG_CORE_INDEX}] configure -event gdb-detach {shutdown}"
+	-c "gdb_port ${OPENOCD_GDB_PORT}")
 
 # request extended-remote GDB sessions
 set(UPLOAD_WANTS_EXTENDED_REMOTE TRUE)
 
+if(NOT DEFINED OPENOCD_GDB_RESET_SEQUENCE)
+	set(OPENOCD_GDB_RESET_SEQUENCE "monitor reset halt")
+endif()
+
 # Reference: https://github.com/Marus/cortex-debug/blob/056c03f01e008828e6527c571ef5c9adaf64083f/src/openocd.ts#L100
 set(UPLOAD_LAUNCH_COMMANDS
-	"monitor reset halt"
+	${OPENOCD_GDB_RESET_SEQUENCE}
 
 	# For targets which support semihosting, prevent GDB from stopping when a semihosting event happens.
 	# AFAIK, semihosting is only used to communicate between the interface chip and the CPU; we never
@@ -83,12 +105,15 @@ set(UPLOAD_LAUNCH_COMMANDS
 	# the user can't inspect peripheral registers.
 	"set mem inaccessible-by-default off"
 
-	"load"
+	# OpenOCD provides the 'monitor program' command as an alternative to 'load'. Seems like it does basically the same thing, except
+	# that on certain devices (e.g. PSoC 62) it works while 'load' does not.
+	"monitor program"
+
 	"tbreak main"
-	"monitor reset halt"
+	${OPENOCD_GDB_RESET_SEQUENCE}
 )
 set(UPLOAD_RESTART_COMMANDS
-	"monitor reset halt"
+	${OPENOCD_GDB_RESET_SEQUENCE}
 
 	# The following will force an sync between gdb and openocd
 	"monitor gdb_sync"
diff --git a/tools/cmake/upload_methods/UploadMethodPYOCD.cmake b/tools/cmake/upload_methods/UploadMethodPYOCD.cmake
index f0e93716c06..6a8cb72a158 100644
--- a/tools/cmake/upload_methods/UploadMethodPYOCD.cmake
+++ b/tools/cmake/upload_methods/UploadMethodPYOCD.cmake
@@ -43,6 +43,15 @@ function(gen_upload_target TARGET_NAME BINARY_FILE)
 endfunction(gen_upload_target)
 
 ### Commands to run the debug server.
+
+# PyOCD has some rather odd behavior where if the MCU has multiple asymmetric cores, it will increment the
+# GDB server port for each core -- e.g. core 0 will have its GDB server started on the passed port number,
+# and core 1 will have its GDB server started on the passed port number plus one. This happens *even if*
+# you tell it to only debug one core via passing an option like `--core 1`.
+# So, since the IDE will always be connecting on MBED_GDB_PORT, we have to decrease the port number passed to
+# PyOCD according to the core index we want to connect to.
+math(EXPR PYOCD_GDB_PORT "${MBED_GDB_PORT} - ${MBED_DEBUG_CORE_INDEX}")
+
 set(UPLOAD_GDBSERVER_DEBUG_COMMAND
 	${Python3_EXECUTABLE}
 	-m pyocd
@@ -51,9 +60,13 @@ set(UPLOAD_GDBSERVER_DEBUG_COMMAND
 	-t ${PYOCD_TARGET_NAME}
 	${PYOCD_PROBE_ARGS}
 	-f ${PYOCD_CLOCK_SPEED}
-	-p ${MBED_GDB_PORT}
+	-p ${PYOCD_GDB_PORT}
 	${PYOCD_EXTRA_OPTIONS})
 
+if(NOT MBED_DEBUG_CORE_INDEX EQUAL 0)
+	list(APPEND UPLOAD_GDBSERVER_DEBUG_COMMAND -Oprimary_core=${MBED_DEBUG_CORE_INDEX})
+endif()
+
 # Reference: https://github.com/Marus/cortex-debug/blob/056c03f01e008828e6527c571ef5c9adaf64083f/src/pyocd.ts#L40
 set(UPLOAD_LAUNCH_COMMANDS
 "monitor reset halt"