diff --git a/boards/airfy-beacon/Makefile.include b/boards/airfy-beacon/Makefile.include
index 759cf37a4d..e4c6cac363 100644
--- a/boards/airfy-beacon/Makefile.include
+++ b/boards/airfy-beacon/Makefile.include
@@ -9,5 +9,8 @@ PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.SLAB_USBtoUART*)))
 # setup serial terminal
 include $(RIOTMAKE)/tools/serial.inc.mk
 
+export DEBUG_ADAPTER ?= stlink
+export STLINK_VERSION ?= 2
+
 # this board uses openocd
 include $(RIOTMAKE)/tools/openocd.inc.mk
diff --git a/boards/airfy-beacon/dist/openocd.cfg b/boards/airfy-beacon/dist/openocd.cfg
index 6d346ee828..d16a15a3ec 100644
--- a/boards/airfy-beacon/dist/openocd.cfg
+++ b/boards/airfy-beacon/dist/openocd.cfg
@@ -1,6 +1,3 @@
-source [find interface/stlink-v2.cfg]
-transport select hla_swd
-
 set WORKAREASIZE 0x4000
 source [find target/nrf51.cfg]
 $_TARGETNAME configure -rtos auto
diff --git a/boards/arduino-zero/dist/openocd.cfg b/boards/arduino-zero/dist/openocd.cfg
index 89c41c3b5c..b99bc995ce 100644
--- a/boards/arduino-zero/dist/openocd.cfg
+++ b/boards/arduino-zero/dist/openocd.cfg
@@ -1,7 +1 @@
-source [find interface/cmsis-dap.cfg]
-
-set CHIPNAME at91samd21g18
-set ENDIAN little
-set telnet_port 0
-
 source [find target/at91samdXX.cfg]
diff --git a/boards/b-l072z-lrwan1/Makefile.include b/boards/b-l072z-lrwan1/Makefile.include
index e72fdd77c8..6ffa293ea0 100644
--- a/boards/b-l072z-lrwan1/Makefile.include
+++ b/boards/b-l072z-lrwan1/Makefile.include
@@ -9,5 +9,8 @@ PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.usbmodem*)))
 # setup serial terminal
 include $(RIOTMAKE)/tools/serial.inc.mk
 
+export DEBUG_ADAPTER ?= stlink
+export STLINK_VERSION ?= 2-1
+
 # this board uses openocd
 include $(RIOTMAKE)/tools/openocd.inc.mk
diff --git a/boards/b-l072z-lrwan1/dist/openocd.cfg b/boards/b-l072z-lrwan1/dist/openocd.cfg
index b4c7706757..507daa5d38 100644
--- a/boards/b-l072z-lrwan1/dist/openocd.cfg
+++ b/boards/b-l072z-lrwan1/dist/openocd.cfg
@@ -1,7 +1,3 @@
-source [find interface/stlink-v2-1.cfg]
-
-transport select hla_swd
-
 source [find target/stm32l0.cfg]
 
 reset_config srst_only
diff --git a/boards/bluepill/Makefile.include b/boards/bluepill/Makefile.include
index 394d1257ac..85c59e3a03 100644
--- a/boards/bluepill/Makefile.include
+++ b/boards/bluepill/Makefile.include
@@ -26,5 +26,8 @@ ifeq ($(PROGRAMMER),dfu-util)
 	export FFLAGS = -d 1d50:6017 -s 0x08002000:leave -D "$(HEXFILE)"
 else
 # this board uses openocd by default
+export DEBUG_ADAPTER ?= stlink
+export STLINK_VERSION ?= 2
+
 include $(RIOTMAKE)/tools/openocd.inc.mk
 endif
diff --git a/boards/bluepill/dist/openocd.cfg b/boards/bluepill/dist/openocd.cfg
index a93406dfb5..ad3f024bf1 100644
--- a/boards/bluepill/dist/openocd.cfg
+++ b/boards/bluepill/dist/openocd.cfg
@@ -1,6 +1,3 @@
-source [find interface/stlink-v2.cfg]
-transport select hla_swd
-
 source [find target/stm32f1x.cfg]
 reset_config none separate
 
diff --git a/boards/frdm-common/Makefile.include b/boards/frdm-common/Makefile.include
index b88ed26267..5b994901fe 100644
--- a/boards/frdm-common/Makefile.include
+++ b/boards/frdm-common/Makefile.include
@@ -4,8 +4,8 @@ PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.usbmodem*)))
 
 # Use the shared OpenOCD configuration
 # Using dap or jlink depends on which firmware the OpenSDA debugger is running
-export FRDM_IFACE ?= dap
-#export FRDM_IFACE ?= jlink
+export DEBUG_ADAPTER ?= dap
+#export DEBUG_ADAPTER ?= jlink
 
 # OpenOCD v0.10.0 and newer have built-in support for disabling the Kinetis
 # watchdog automatically. However, current stable releases of Ubuntu and Debian
@@ -29,11 +29,11 @@ flash: $(RIOTCPU)/$(CPU)/dist/wdog-disable.bin
 # Reset the default goal.
 .DEFAULT_GOAL :=
 
-export OPENOCD_CONFIG ?= $(RIOTBOARD)/frdm-common/dist/old-openocd-$(FRDM_IFACE)-$(CPU_FAMILY).cfg
+export OPENOCD_CONFIG ?= $(RIOTBOARD)/frdm-common/dist/old-openocd-$(CPU_FAMILY).cfg
 endif
 
 # Configuration for OpenOCD v0.10.0 and newer
-export OPENOCD_CONFIG ?= $(RIOTBOARD)/frdm-common/dist/openocd-$(FRDM_IFACE)-$(CPU_FAMILY).cfg
+export OPENOCD_CONFIG ?= $(RIOTBOARD)/frdm-common/dist/openocd-$(CPU_FAMILY).cfg
 
 # Check the flash configuration field before flashing
 export PRE_FLASH_CHECK_SCRIPT = $(RIOTCPU)/$(CPU)/dist/check-fcfield-elf.sh
diff --git a/boards/frdm-common/dist/old-openocd-jlink-kx.cfg b/boards/frdm-common/dist/old-openocd-jlink-kx.cfg
deleted file mode 100644
index 4e785eb3ac..0000000000
--- a/boards/frdm-common/dist/old-openocd-jlink-kx.cfg
+++ /dev/null
@@ -1,48 +0,0 @@
-#
-# Freescale Kinetis Kxx devices on a Segger J-Link adapter
-#
-source [find interface/jlink.cfg]
-
-source [find target/swj-dp.tcl]
-
-if { [info exists CHIPNAME] } {
-    set _CHIPNAME $CHIPNAME
-} else {
-    set _CHIPNAME kx
-}
-
-if { [info exists CPUTAPID] } {
-    set _CPUTAPID $CPUTAPID
-} else {
-    set _CPUTAPID 0x2ba01477
-}
-
-set _TARGETNAME $_CHIPNAME.cpu
-
-swj_newdap $_CHIPNAME cpu -irlen 4 -expected-id $_CPUTAPID
-
-target create $_TARGETNAME cortex_m -chain-position $_CHIPNAME.cpu
-
-$_CHIPNAME.cpu configure -event examine-start { puts "START..." ; }
-
-# It is important that "kinetis mdm check_security" is called for
-# 'examine-end' event and not 'eximine-start'. Calling it in 'examine-start'
-# causes "kinetis mdm check_security" to fail the first time openocd
-# calls it when it tries to connect after the CPU has been power-cycled.
-$_CHIPNAME.cpu configure -event examine-end {
-    kinetis mdm check_security
-}
-
-$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size 0x1000 -work-area-backup 0
-
-flash bank $_CHIPNAME.flash kinetis 0 0 0 0 $_TARGETNAME
-
-cortex_m reset_config sysresetreq
-#reset_config srst_only srst_nogate connect_assert_srst
-
-adapter_khz 1000
-
-$_TARGETNAME configure -event gdb-attach {
-  halt
-}
-$_TARGETNAME configure -rtos auto
diff --git a/boards/frdm-common/dist/old-openocd-dap-kx.cfg b/boards/frdm-common/dist/old-openocd-kx.cfg
similarity index 92%
rename from boards/frdm-common/dist/old-openocd-dap-kx.cfg
rename to boards/frdm-common/dist/old-openocd-kx.cfg
index 0e6e918aa7..72ef312804 100644
--- a/boards/frdm-common/dist/old-openocd-dap-kx.cfg
+++ b/boards/frdm-common/dist/old-openocd-kx.cfg
@@ -1,8 +1,6 @@
 #
-# Freescale Kinetis Kxx devices on a CMSIS-DAP adapter
+# Freescale Kinetis Kxx devices when using old OpenOCD versions (<0.10.0)
 #
-source [find interface/cmsis-dap.cfg]
-
 source [find target/swj-dp.tcl]
 
 if { [info exists CHIPNAME] } {
diff --git a/boards/frdm-common/dist/openocd-jlink-kx.cfg b/boards/frdm-common/dist/openocd-jlink-kx.cfg
deleted file mode 100644
index 2580e6835f..0000000000
--- a/boards/frdm-common/dist/openocd-jlink-kx.cfg
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-# NXP Kinetis Freedom developer board
-#
-# OpenSDA is the on-board debugger, some boards have a CMSIS-DAP compatible
-# interface, other boards comes pre-flashed with a Segger J-Link compatible
-# firmware. The OpenSDA controller can be re-flashed to provide either of the two.
-# Both interfaces work with OpenOCD, but we need to tell which one we have on
-# our debugger.
-
-# J-Link compatible firmware binaries for OpenSDA can be found at:
-# https://www.segger.com/downloads/jlink#JLinkOpenSDABoardSpecificFirmwares
-source [find interface/jlink.cfg]
-
-# Kinetis K series CPUs
-source [find target/kx.cfg]
-
-reset_config srst_only
-
-$_TARGETNAME configure -event gdb-attach {
-  halt
-}
-$_TARGETNAME configure -rtos auto
diff --git a/boards/frdm-common/dist/openocd-dap-kx.cfg b/boards/frdm-common/dist/openocd-kx.cfg
similarity index 94%
rename from boards/frdm-common/dist/openocd-dap-kx.cfg
rename to boards/frdm-common/dist/openocd-kx.cfg
index 942f1d11b9..021f22074e 100644
--- a/boards/frdm-common/dist/openocd-dap-kx.cfg
+++ b/boards/frdm-common/dist/openocd-kx.cfg
@@ -9,7 +9,6 @@
 
 # CMSIS-DAP (DAPLink) compatible OpenSDA firmware binary images can be found at:
 # http://www.nxp.com/opensda
-source [find interface/cmsis-dap.cfg]
 
 # Kinetis K series CPUs
 source [find target/kx.cfg]
diff --git a/boards/limifrog-v1/Makefile.include b/boards/limifrog-v1/Makefile.include
index 1855b1f352..623dad11cc 100644
--- a/boards/limifrog-v1/Makefile.include
+++ b/boards/limifrog-v1/Makefile.include
@@ -9,5 +9,8 @@ PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.SLAB_USBtoUART*)))
 # setup serial terminal
 include $(RIOTMAKE)/tools/serial.inc.mk
 
+export DEBUG_ADAPTER ?= stlink
+export STLINK_VERSION ?= 2
+
 # this board uses openocd
 include $(RIOTMAKE)/tools/openocd.inc.mk
diff --git a/boards/limifrog-v1/dist/openocd.cfg b/boards/limifrog-v1/dist/openocd.cfg
index 530d12f689..404ad7fc20 100644
--- a/boards/limifrog-v1/dist/openocd.cfg
+++ b/boards/limifrog-v1/dist/openocd.cfg
@@ -1,6 +1,3 @@
-source [find interface/stlink-v2.cfg]
-transport select hla_swd
-
 set WORKAREASIZE 0x2800
 source [find target/stm32l1.cfg]
 $_TARGETNAME configure -rtos auto
diff --git a/boards/maple-mini/Makefile.include b/boards/maple-mini/Makefile.include
index ba4a3e1b75..ce0aa45579 100644
--- a/boards/maple-mini/Makefile.include
+++ b/boards/maple-mini/Makefile.include
@@ -9,5 +9,8 @@ PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.SLAB_USBtoUART*)))
 # setup serial terminal
 include $(RIOTMAKE)/tools/serial.inc.mk
 
+export DEBUG_ADAPTER ?= stlink
+export STLINK_VERSION ?= 2-1
+
 # this board uses openocd
 include $(RIOTMAKE)/tools/openocd.inc.mk
diff --git a/boards/maple-mini/dist/openocd.cfg b/boards/maple-mini/dist/openocd.cfg
index 0b1c4fdf9e..43022477c4 100644
--- a/boards/maple-mini/dist/openocd.cfg
+++ b/boards/maple-mini/dist/openocd.cfg
@@ -1,7 +1,3 @@
-source [find interface/stlink-v2-1.cfg]
-
-transport select hla_swd
-
 source [find target/stm32f1x.cfg]
 
 reset_config srst_only
diff --git a/boards/msbiot/Makefile.include b/boards/msbiot/Makefile.include
index d87c020ab0..d92fcb56e6 100644
--- a/boards/msbiot/Makefile.include
+++ b/boards/msbiot/Makefile.include
@@ -9,5 +9,8 @@ PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.SLAB_USBtoUART*)))
 # setup serial terminal
 include $(RIOTMAKE)/tools/serial.inc.mk
 
+export DEBUG_ADAPTER ?= stlink
+export STLINK_VERSION ?= 2
+
 # this board uses openocd
 include $(RIOTMAKE)/tools/openocd.inc.mk
diff --git a/boards/msbiot/dist/openocd.cfg b/boards/msbiot/dist/openocd.cfg
index a2f4a92046..6c80869616 100644
--- a/boards/msbiot/dist/openocd.cfg
+++ b/boards/msbiot/dist/openocd.cfg
@@ -1,2 +1,7 @@
-source [find board/stm32f4discovery.cfg]
+# increase working area to 64KB
+set WORKAREASIZE 0x10000
+
+source [find target/stm32f4x.cfg]
+
+reset_config srst_only
 $_TARGETNAME configure -rtos auto
diff --git a/boards/mulle/Makefile.include b/boards/mulle/Makefile.include
index 620be56ca0..ed3d0b144d 100644
--- a/boards/mulle/Makefile.include
+++ b/boards/mulle/Makefile.include
@@ -1,9 +1,6 @@
 # define the cpu used by the Mulle board
 export CPU = kinetis
 
-# Default GDB port
-export GDBPORT ?= 3333
-
 # MULLE_SERIAL is used to select which specific Mulle board we are compiling for.
 ifdef MULLE_SERIAL
   CFLAGS += -DMULLE_SERIAL=$(MULLE_SERIAL)
@@ -22,53 +19,26 @@ endif
 
 export CPU_MODEL
 
-# OpenOCD settings for Mulle board.
-# Try to determine which version of the OpenOCD config file we should use.
-# Specify PROGRAMMER_VERSION or PROGRAMMER_SERIAL to choose a specific programmer board.
-ifeq ($(PROGRAMMER_VERSION),)
-  ifneq ($(PROGRAMMER_SERIAL),)
-    # Makefile-way of comparing numbers, using lexicographical sorting since we don't have any arithmetic comparisons.
-    # Programmers with serial 100 -- 148 are version 0.60
-    # Programmers with serial 301 -- 330 are version 0.70
-    ifeq "100" "$(word 1, $(sort 100 $(PROGRAMMER_SERIAL)))"
-      # >= 100
-      ifneq "149" "$(word 1, $(sort 149 $(PROGRAMMER_SERIAL)))"
-        # < 149
-        PROGRAMMER_VERSION = 0.60
-      else
-        # >= 149
-        PROGRAMMER_VERSION = 0.70
-      endif
-    endif
-  endif
-  # Default to version 0.70 programmer
-  PROGRAMMER_VERSION ?= 0.70
-endif
-
-export OPENOCD_CONFIG = $(RIOTBOARD)/$(BOARD)/dist/openocd/mulle-programmer-$(PROGRAMMER_VERSION).conf
-
-# Add serial matching command
-ifneq ($(PROGRAMMER_SERIAL),)
-  OPENOCD_EXTRA_INIT += -c 'ftdi_serial $(PROGRAMMER_SERIAL)'
-endif
-
-OPENOCD_EXTRA_INIT += $(CPU_OOCD_FLAGS)
-
+# Default debug adapter choice is to use the Mulle programmer board
+export DEBUG_ADAPTER ?= mulle
 # Host OS name
 OS := $(shell uname)
 
+# Fall back to PROGRAMMER_SERIAL for backwards compatibility
+export DEBUG_ADAPTER_ID ?= $(PROGRAMMER_SERIAL)
+
 ifeq ($(PORT),)
   # try to find tty name by serial number, only works on Linux currently.
   ifeq ($(OS),Linux)
-    ifneq ($(PROGRAMMER_SERIAL),)
-      PORT := $(firstword $(shell $(RIOTBASE)/dist/tools/usb-serial/find-tty.sh '^$(PROGRAMMER_SERIAL)$$'))
+    ifneq ($(DEBUG_ADAPTER_ID),)
+      PORT := $(firstword $(shell $(RIOTBASE)/dist/tools/usb-serial/find-tty.sh '^$(DEBUG_ADAPTER_ID)$$'))
     else
       # find-tty.sh will return the first USB tty if no serial is given.
       PORT := $(firstword $(shell $(RIOTBASE)/dist/tools/usb-serial/find-tty.sh))
   endif
   else ifeq ($(OS),Darwin)
-    ifneq ($(PROGRAMMER_SERIAL),)
-      PORT := /dev/tty.usbserial-$(PROGRAMMER_SERIAL)B
+    ifneq ($(DEBUG_ADAPTER_ID),)
+      PORT := /dev/tty.usbserial-$(DEBUG_ADAPTER_ID)B
     else
       PORT := $(firstword $(sort $(wildcard /dev/tty.usbserial*)))
     endif
@@ -86,7 +56,6 @@ endif
 export OPENOCD_PRE_VERIFY_CMDS += \
   -c 'load_image $(RIOTCPU)/$(CPU)/dist/wdog-disable.bin 0x20000000 bin' \
   -c 'resume 0x20000000'
-export OPENOCD_EXTRA_INIT
 export PRE_FLASH_CHECK_SCRIPT = $(RIOTCPU)/$(CPU)/dist/check-fcfield-elf.sh
 
 .PHONY: flash
diff --git a/boards/mulle/dist/openocd.cfg b/boards/mulle/dist/openocd.cfg
new file mode 100644
index 0000000000..6beedf6ae6
--- /dev/null
+++ b/boards/mulle/dist/openocd.cfg
@@ -0,0 +1,12 @@
+# Copyright 2017 Eistec AB
+#
+# OpenOCD configuration for Eistec Mulle board with Kinetis K MCU
+#
+
+source [find target/kx.cfg]
+
+# The nTRST functionality can only be used if the MCU has been configured by
+# setting the correct pin multiplexing function on the TRST pin (PTA5 on Kinetis K60).
+# If you have configured the TRST pin correctly you can change srst_only to
+# trst_and_srst
+reset_config srst_only
diff --git a/boards/mulle/dist/openocd/mulle-programmer-0.60.cfg b/boards/mulle/dist/openocd/mulle-programmer-0.60.cfg
new file mode 100644
index 0000000000..172bb8c5f2
--- /dev/null
+++ b/boards/mulle/dist/openocd/mulle-programmer-0.60.cfg
@@ -0,0 +1,28 @@
+#
+# Mulle programmer board v0.60
+#
+# The Mulle programming board uses a FTDI FT2232H chip for USB UART and JTAG
+# combined functionality.
+#
+
+# Reduce this if you are having problems with losing connection to the Mulle
+adapter_khz 1000
+
+# JTAG interface configuration
+
+interface ftdi
+ftdi_device_desc "Mulle Programmer v0.60"
+ftdi_vid_pid 0x0403 0x6010
+
+ftdi_channel 1
+ftdi_layout_init 0x0008 0x005b
+
+# These are the pins that are used for SRST and TRST. Note that the Mulle
+# programming board inverts the reset signal between the FTDI chip and the MCU,
+# so we need to use -ndata here to tell OpenOCD that the signals are active HIGH.
+ftdi_layout_signal nTRST -ndata 0x0010
+ftdi_layout_signal nSRST -ndata 0x0040
+
+# In the eyes of OpenOCD, the reset signal is push-pull, because of the hardware
+# design however, it is actually open drain.
+reset_config srst_push_pull
diff --git a/boards/mulle/dist/openocd/mulle-programmer-0.60.conf b/boards/mulle/dist/openocd/mulle-programmer-0.60.conf
deleted file mode 100644
index 2393b73abf..0000000000
--- a/boards/mulle/dist/openocd/mulle-programmer-0.60.conf
+++ /dev/null
@@ -1,65 +0,0 @@
-#
-# Mulle programming board.
-#
-# The Mulle programming board uses a FTDI FT2232H chip for USB UART and JTAG
-# combined functionality.
-#
-
-# Reduce this if you are having problems with losing connection to the Mulle
-adapter_khz 1000
-
-# JTAG interface configuration
-
-interface ftdi
-ftdi_device_desc "Mulle Programmer v0.60"
-ftdi_vid_pid 0x0403 0x6010
-
-ftdi_channel 1
-ftdi_layout_init 0x0008 0x005b
-
-# These are the pins that are used for SRST and TRST. Note that the Mulle
-# programming board inverts the reset signal between the FTDI chip and the MCU,
-# so we need to use -ndata here to tell OpenOCD that the signals are active HIGH.
-ftdi_layout_signal nTRST -ndata 0x0010
-ftdi_layout_signal nSRST -ndata 0x0040
-
-# In the eyes of OpenOCD, the reset signal is push-pull, because of the hardware
-# design however, it is actually open drain.
-# The trst pin can only be used if the MCU has been configured by setting the
-# correct pin multiplexing function on the TRST pin (PTA5).
-# If you have configured the TRST pin correctly you can change srst_only to
-# trst_and_srst
-reset_config srst_only srst_push_pull srst_gates_jtag
-
-# MCU
-gdb_memory_map enable
-gdb_flash_program enable
-
-source [find target/k60.cfg]
-
-#
-# Bank definition for the 'program flash' (instructions and/or data)
-# OpenOCD 0.9.0 has a definition of the first flash bank in target/kx.cfg, but
-# not OpenOCD 0.8.0 and earlier.
-#
-catch {flash bank $_CHIPNAME.flash kinetis 0 0 0 0 $_TARGETNAME}
-catch {flash bank $_CHIPNAME.flash2 kinetis 0 0 0 0 $_TARGETNAME}
-
-# Work-area is a space in RAM used for flash programming
-# By default use 4 kB
-if { [info exists WORKAREASIZE] } {
-    set  _WORKAREASIZE $WORKAREASIZE
-} else {
-    set  _WORKAREASIZE 0x1000
-}
-
-$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
-
-# The following section makes new gdb connections cause the MCU to do a system
-# reset, in order to be in a known state.
-# Comment this out in order to be able to debug an already started program.
-$_TARGETNAME configure -event gdb-attach {
-    echo "Resetting because of gdb-attach event..."
-    # To make flash probe and gdb load to flash work we need a reset init.
-    reset init
-}
diff --git a/boards/mulle/dist/openocd/mulle-programmer-0.70.cfg b/boards/mulle/dist/openocd/mulle-programmer-0.70.cfg
new file mode 100644
index 0000000000..f0c2b2c6b7
--- /dev/null
+++ b/boards/mulle/dist/openocd/mulle-programmer-0.70.cfg
@@ -0,0 +1,27 @@
+#
+# Mulle programmer board v0.70
+#
+# The Mulle programming board uses a FTDI FT2232H chip for USB UART and JTAG
+# combined functionality.
+#
+
+# Reduce this if you are having problems with losing connection to the Mulle
+adapter_khz 1000
+
+# JTAG interface configuration
+
+interface ftdi
+ftdi_device_desc "Mulle Programmer v0.70"
+ftdi_vid_pid 0x0403 0x6010
+
+ftdi_channel 1
+ftdi_layout_init 0x0008 0x005b
+
+# These are the pins that are used for SRST and TRST. Active low on programmer
+# boards v0.70 and up (used to be active high on v0.60)
+ftdi_layout_signal nTRST -data 0x0010
+ftdi_layout_signal nSRST -data 0x0040
+
+# In the eyes of OpenOCD, the reset signal is push-pull, because of the hardware
+# design however, it is actually open drain.
+reset_config srst_push_pull
diff --git a/boards/mulle/dist/openocd/mulle-programmer-0.70.conf b/boards/mulle/dist/openocd/mulle-programmer-0.70.conf
deleted file mode 100644
index bd4805ee7b..0000000000
--- a/boards/mulle/dist/openocd/mulle-programmer-0.70.conf
+++ /dev/null
@@ -1,63 +0,0 @@
-#
-# Mulle programming board.
-#
-# The Mulle programming board uses a FTDI FT2232H chip for USB UART and JTAG
-# combined functionality.
-#
-
-# Reduce this if you are having problems with losing connection to the Mulle
-adapter_khz 1000
-
-# JTAG interface configuration
-
-interface ftdi
-ftdi_device_desc "Mulle Programmer v0.70"
-ftdi_vid_pid 0x0403 0x6010
-
-ftdi_channel 1
-ftdi_layout_init 0x0008 0x005b
-
-# These are the pins that are used for SRST and TRST. Active LOW on programmer
-# boards v0.70 and up (used to be active HIGH)
-ftdi_layout_signal nTRST -data 0x0010
-ftdi_layout_signal nSRST -data 0x0040
-
-# In the eyes of OpenOCD, the reset signal is push-pull, because of the hardware
-# design however, it is actually open drain.
-# The trst pin can only be used if the MCU has been configured by setting the
-# correct pin multiplexing function on the TRST pin (PTA5).
-# If you have configured the TRST pin correctly you can change srst_only to
-# trst_and_srst
-reset_config srst_only srst_push_pull srst_gates_jtag
-
-# MCU
-gdb_memory_map enable
-gdb_flash_program enable
-
-source [find target/k60.cfg]
-
-#
-# Bank definition for the 'program flash' (instructions and/or data)
-# OpenOCD 0.9.0 has a definition of the first flash bank in target/kx.cfg, but
-# not OpenOCD 0.8.0 and earlier.
-#
-catch {flash bank $_CHIPNAME.flash kinetis 0 0 0 0 $_TARGETNAME}
-
-# Work-area is a space in RAM used for flash programming
-# By default use 4 kB
-if { [info exists WORKAREASIZE] } {
-    set  _WORKAREASIZE $WORKAREASIZE
-} else {
-    set  _WORKAREASIZE 0x1000
-}
-
-$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
-
-# The following section makes new gdb connections cause the MCU to do a system
-# reset, in order to be in a known state.
-# Comment this out in order to be able to debug an already started program.
-$_TARGETNAME configure -event gdb-attach {
-    echo "Resetting because of gdb-attach event..."
-    # To make flash probe and gdb load to flash work we need a reset init.
-    reset init
-}
diff --git a/boards/nucleo-common/Makefile.include.serial b/boards/nucleo-common/Makefile.include.serial
index 1c5e4d00d0..20bc2220d4 100644
--- a/boards/nucleo-common/Makefile.include.serial
+++ b/boards/nucleo-common/Makefile.include.serial
@@ -5,5 +5,32 @@ PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.usbmodem*)))
 # setup serial terminal
 include $(RIOTMAKE)/tools/serial.inc.mk
 
+# All Nucleo boards have an on-board ST-link v2-1 adapter
+export DEBUG_ADAPTER ?= stlink
+export STLINK_VERSION ?= 2-1
+
+# Choose OpenOCD board configuration depending on CPU type
+ifeq (,$(OPENOCD_CONFIG))
+  ifeq ($(CPU),stm32f0)
+    export OPENOCD_CONFIG := $(RIOTBOARD)/nucleo-common/dist/openocd-f0.cfg
+  else ifeq ($(CPU),stm32f1)
+    export OPENOCD_CONFIG := $(RIOTBOARD)/nucleo-common/dist/openocd-f1.cfg
+  else ifeq ($(CPU),stm32f2)
+    export OPENOCD_CONFIG := $(RIOTBOARD)/nucleo-common/dist/openocd-f2.cfg
+  else ifeq ($(CPU),stm32f3)
+    export OPENOCD_CONFIG := $(RIOTBOARD)/nucleo-common/dist/openocd-f3.cfg
+  else ifeq ($(CPU),stm32f4)
+    export OPENOCD_CONFIG := $(RIOTBOARD)/nucleo-common/dist/openocd-f4.cfg
+  else ifeq ($(CPU),stm32f7)
+    export OPENOCD_CONFIG := $(RIOTBOARD)/nucleo-common/dist/openocd-f7.cfg
+  else ifeq ($(CPU),stm32l0)
+    export OPENOCD_CONFIG := $(RIOTBOARD)/nucleo-common/dist/openocd-l0.cfg
+  else ifeq ($(CPU),stm32l1)
+    export OPENOCD_CONFIG := $(RIOTBOARD)/nucleo-common/dist/openocd-l1.cfg
+  else ifeq ($(CPU),stm32l4)
+    export OPENOCD_CONFIG := $(RIOTBOARD)/nucleo-common/dist/openocd-l4.cfg
+  endif
+endif
+
 # this board uses openocd
 include $(RIOTMAKE)/tools/openocd.inc.mk
diff --git a/boards/nucleo-common/dist/openocd-f0.cfg b/boards/nucleo-common/dist/openocd-f0.cfg
new file mode 100644
index 0000000000..2e2e8789c0
--- /dev/null
+++ b/boards/nucleo-common/dist/openocd-f0.cfg
@@ -0,0 +1,3 @@
+source [find target/stm32f0x.cfg]
+reset_config srst_only
+$_TARGETNAME configure -rtos auto
diff --git a/boards/nucleo-common/dist/openocd-f1.cfg b/boards/nucleo-common/dist/openocd-f1.cfg
new file mode 100644
index 0000000000..5dfac4c711
--- /dev/null
+++ b/boards/nucleo-common/dist/openocd-f1.cfg
@@ -0,0 +1,3 @@
+source [find target/stm32f1x.cfg]
+reset_config srst_only
+$_TARGETNAME configure -rtos auto
diff --git a/boards/nucleo-common/dist/openocd-f2.cfg b/boards/nucleo-common/dist/openocd-f2.cfg
new file mode 100644
index 0000000000..55eef90851
--- /dev/null
+++ b/boards/nucleo-common/dist/openocd-f2.cfg
@@ -0,0 +1,3 @@
+source [find target/stm32f2x.cfg]
+reset_config srst_only
+$_TARGETNAME configure -rtos auto
diff --git a/boards/nucleo-common/dist/openocd-f3.cfg b/boards/nucleo-common/dist/openocd-f3.cfg
new file mode 100644
index 0000000000..a497ce7b9f
--- /dev/null
+++ b/boards/nucleo-common/dist/openocd-f3.cfg
@@ -0,0 +1,3 @@
+source [find target/stm32f3x.cfg]
+reset_config srst_only
+$_TARGETNAME configure -rtos auto
diff --git a/boards/nucleo-common/dist/openocd-f4.cfg b/boards/nucleo-common/dist/openocd-f4.cfg
new file mode 100644
index 0000000000..8313d98b3e
--- /dev/null
+++ b/boards/nucleo-common/dist/openocd-f4.cfg
@@ -0,0 +1,3 @@
+source [find target/stm32f4x.cfg]
+reset_config srst_only
+$_TARGETNAME configure -rtos auto
diff --git a/boards/nucleo-common/dist/openocd-f7.cfg b/boards/nucleo-common/dist/openocd-f7.cfg
new file mode 100644
index 0000000000..2a1ac13f45
--- /dev/null
+++ b/boards/nucleo-common/dist/openocd-f7.cfg
@@ -0,0 +1,3 @@
+source [find target/stm32f7x.cfg]
+reset_config srst_only
+$_TARGETNAME configure -rtos auto
diff --git a/boards/nucleo-common/dist/openocd-l0.cfg b/boards/nucleo-common/dist/openocd-l0.cfg
new file mode 100644
index 0000000000..13fea1b4a9
--- /dev/null
+++ b/boards/nucleo-common/dist/openocd-l0.cfg
@@ -0,0 +1,3 @@
+source [find target/stm32l0.cfg]
+reset_config srst_only
+$_TARGETNAME configure -rtos auto
diff --git a/boards/nucleo-common/dist/openocd-l1.cfg b/boards/nucleo-common/dist/openocd-l1.cfg
new file mode 100644
index 0000000000..aecf846206
--- /dev/null
+++ b/boards/nucleo-common/dist/openocd-l1.cfg
@@ -0,0 +1,3 @@
+source [find target/stm32l1.cfg]
+reset_config srst_only
+$_TARGETNAME configure -rtos auto
diff --git a/boards/nucleo-common/dist/openocd-l4.cfg b/boards/nucleo-common/dist/openocd-l4.cfg
new file mode 100644
index 0000000000..5d8b973e01
--- /dev/null
+++ b/boards/nucleo-common/dist/openocd-l4.cfg
@@ -0,0 +1,3 @@
+source [find target/stm32l4x.cfg]
+reset_config srst_only
+$_TARGETNAME configure -rtos auto
diff --git a/boards/nucleo-f030/dist/openocd.cfg b/boards/nucleo-f030/dist/openocd.cfg
deleted file mode 100644
index 4f0cfb3a02..0000000000
--- a/boards/nucleo-f030/dist/openocd.cfg
+++ /dev/null
@@ -1 +0,0 @@
-source [find board/st_nucleo_f0.cfg]
diff --git a/boards/nucleo-f070/dist/openocd.cfg b/boards/nucleo-f070/dist/openocd.cfg
deleted file mode 100644
index 4f0cfb3a02..0000000000
--- a/boards/nucleo-f070/dist/openocd.cfg
+++ /dev/null
@@ -1 +0,0 @@
-source [find board/st_nucleo_f0.cfg]
diff --git a/boards/nucleo-f072/dist/openocd.cfg b/boards/nucleo-f072/dist/openocd.cfg
deleted file mode 100644
index ba0fc41dfb..0000000000
--- a/boards/nucleo-f072/dist/openocd.cfg
+++ /dev/null
@@ -1,2 +0,0 @@
-source [find board/st_nucleo_f0.cfg]
-$_TARGETNAME configure -rtos auto
diff --git a/boards/nucleo-f091/dist/openocd.cfg b/boards/nucleo-f091/dist/openocd.cfg
deleted file mode 100644
index ba0fc41dfb..0000000000
--- a/boards/nucleo-f091/dist/openocd.cfg
+++ /dev/null
@@ -1,2 +0,0 @@
-source [find board/st_nucleo_f0.cfg]
-$_TARGETNAME configure -rtos auto
diff --git a/boards/nucleo-f103/dist/openocd.cfg b/boards/nucleo-f103/dist/openocd.cfg
deleted file mode 100644
index befcac3250..0000000000
--- a/boards/nucleo-f103/dist/openocd.cfg
+++ /dev/null
@@ -1,3 +0,0 @@
-#source [find board/st_nucleo_f1.cfg]
-source [find board/st_nucleo_f103rb.cfg]
-$_TARGETNAME configure -rtos auto
diff --git a/boards/nucleo-f302/dist/openocd.cfg b/boards/nucleo-f302/dist/openocd.cfg
deleted file mode 100644
index 2489007535..0000000000
--- a/boards/nucleo-f302/dist/openocd.cfg
+++ /dev/null
@@ -1 +0,0 @@
-source [find board/st_nucleo_f3.cfg]
diff --git a/boards/nucleo-f303/dist/openocd.cfg b/boards/nucleo-f303/dist/openocd.cfg
deleted file mode 100644
index 915eebc912..0000000000
--- a/boards/nucleo-f303/dist/openocd.cfg
+++ /dev/null
@@ -1,2 +0,0 @@
-source [find board/st_nucleo_f3.cfg]
-$_TARGETNAME configure -rtos auto
diff --git a/boards/nucleo-f334/dist/openocd.cfg b/boards/nucleo-f334/dist/openocd.cfg
deleted file mode 100644
index 915eebc912..0000000000
--- a/boards/nucleo-f334/dist/openocd.cfg
+++ /dev/null
@@ -1,2 +0,0 @@
-source [find board/st_nucleo_f3.cfg]
-$_TARGETNAME configure -rtos auto
diff --git a/boards/nucleo-f401/dist/openocd.cfg b/boards/nucleo-f401/dist/openocd.cfg
deleted file mode 100644
index 27ae019aeb..0000000000
--- a/boards/nucleo-f401/dist/openocd.cfg
+++ /dev/null
@@ -1,2 +0,0 @@
-source [find board/st_nucleo_f4.cfg]
-$_TARGETNAME configure -rtos auto
diff --git a/boards/nucleo-f410/dist/openocd.cfg b/boards/nucleo-f410/dist/openocd.cfg
deleted file mode 100644
index 9a3061f0bf..0000000000
--- a/boards/nucleo-f410/dist/openocd.cfg
+++ /dev/null
@@ -1 +0,0 @@
-source [find board/st_nucleo_f4.cfg]
diff --git a/boards/nucleo-f411/dist/openocd.cfg b/boards/nucleo-f411/dist/openocd.cfg
deleted file mode 100644
index 9a3061f0bf..0000000000
--- a/boards/nucleo-f411/dist/openocd.cfg
+++ /dev/null
@@ -1 +0,0 @@
-source [find board/st_nucleo_f4.cfg]
diff --git a/boards/nucleo-f446/dist/openocd.cfg b/boards/nucleo-f446/dist/openocd.cfg
deleted file mode 100644
index 9a3061f0bf..0000000000
--- a/boards/nucleo-f446/dist/openocd.cfg
+++ /dev/null
@@ -1 +0,0 @@
-source [find board/st_nucleo_f4.cfg]
diff --git a/boards/nucleo-l053/dist/openocd.cfg b/boards/nucleo-l053/dist/openocd.cfg
deleted file mode 100644
index b4c7706757..0000000000
--- a/boards/nucleo-l053/dist/openocd.cfg
+++ /dev/null
@@ -1,7 +0,0 @@
-source [find interface/stlink-v2-1.cfg]
-
-transport select hla_swd
-
-source [find target/stm32l0.cfg]
-
-reset_config srst_only
diff --git a/boards/nucleo-l073/dist/openocd.cfg b/boards/nucleo-l073/dist/openocd.cfg
deleted file mode 100644
index b4c7706757..0000000000
--- a/boards/nucleo-l073/dist/openocd.cfg
+++ /dev/null
@@ -1,7 +0,0 @@
-source [find interface/stlink-v2-1.cfg]
-
-transport select hla_swd
-
-source [find target/stm32l0.cfg]
-
-reset_config srst_only
diff --git a/boards/nucleo-l152/dist/openocd.cfg b/boards/nucleo-l152/dist/openocd.cfg
deleted file mode 100644
index 939ea7d896..0000000000
--- a/boards/nucleo-l152/dist/openocd.cfg
+++ /dev/null
@@ -1,2 +0,0 @@
-source [find board/st_nucleo_l1.cfg]
-$_TARGETNAME configure -rtos auto
diff --git a/boards/nucleo-l476/dist/openocd.cfg b/boards/nucleo-l476/dist/openocd.cfg
deleted file mode 100644
index 79ee8f3fb8..0000000000
--- a/boards/nucleo-l476/dist/openocd.cfg
+++ /dev/null
@@ -1,5 +0,0 @@
-source [find interface/stlink-v2-1.cfg]
-
-transport select hla_swd
-
-source [find target/stm32l4x.cfg]
diff --git a/boards/nucleo144-f207/dist/openocd.cfg b/boards/nucleo144-f207/dist/openocd.cfg
deleted file mode 100644
index 66bc6f2e78..0000000000
--- a/boards/nucleo144-f207/dist/openocd.cfg
+++ /dev/null
@@ -1,7 +0,0 @@
-source [find interface/stlink-v2-1.cfg]
-
-transport select hla_swd
-
-source [find target/stm32f2x.cfg]
-
-reset_config srst_only
diff --git a/boards/nucleo144-f303/dist/openocd.cfg b/boards/nucleo144-f303/dist/openocd.cfg
deleted file mode 100644
index 2489007535..0000000000
--- a/boards/nucleo144-f303/dist/openocd.cfg
+++ /dev/null
@@ -1 +0,0 @@
-source [find board/st_nucleo_f3.cfg]
diff --git a/boards/nucleo144-f412/dist/openocd.cfg b/boards/nucleo144-f412/dist/openocd.cfg
deleted file mode 100644
index 9a3061f0bf..0000000000
--- a/boards/nucleo144-f412/dist/openocd.cfg
+++ /dev/null
@@ -1 +0,0 @@
-source [find board/st_nucleo_f4.cfg]
diff --git a/boards/nucleo144-f413/dist/openocd.cfg b/boards/nucleo144-f413/dist/openocd.cfg
deleted file mode 100644
index 9a3061f0bf..0000000000
--- a/boards/nucleo144-f413/dist/openocd.cfg
+++ /dev/null
@@ -1 +0,0 @@
-source [find board/st_nucleo_f4.cfg]
diff --git a/boards/nucleo144-f429/dist/openocd.cfg b/boards/nucleo144-f429/dist/openocd.cfg
deleted file mode 100644
index 9a3061f0bf..0000000000
--- a/boards/nucleo144-f429/dist/openocd.cfg
+++ /dev/null
@@ -1 +0,0 @@
-source [find board/st_nucleo_f4.cfg]
diff --git a/boards/nucleo144-f446/dist/openocd.cfg b/boards/nucleo144-f446/dist/openocd.cfg
deleted file mode 100644
index 9a3061f0bf..0000000000
--- a/boards/nucleo144-f446/dist/openocd.cfg
+++ /dev/null
@@ -1 +0,0 @@
-source [find board/st_nucleo_f4.cfg]
diff --git a/boards/nucleo144-f722/dist/openocd.cfg b/boards/nucleo144-f722/dist/openocd.cfg
deleted file mode 100644
index d028c19968..0000000000
--- a/boards/nucleo144-f722/dist/openocd.cfg
+++ /dev/null
@@ -1,5 +0,0 @@
-source [find interface/stlink-v2-1.cfg]
-
-transport select hla_swd
-
-source [find target/stm32f7x.cfg]
diff --git a/boards/nucleo144-f746/dist/openocd.cfg b/boards/nucleo144-f746/dist/openocd.cfg
deleted file mode 100644
index d028c19968..0000000000
--- a/boards/nucleo144-f746/dist/openocd.cfg
+++ /dev/null
@@ -1,5 +0,0 @@
-source [find interface/stlink-v2-1.cfg]
-
-transport select hla_swd
-
-source [find target/stm32f7x.cfg]
diff --git a/boards/nucleo144-f767/dist/openocd.cfg b/boards/nucleo144-f767/dist/openocd.cfg
deleted file mode 100644
index d028c19968..0000000000
--- a/boards/nucleo144-f767/dist/openocd.cfg
+++ /dev/null
@@ -1,5 +0,0 @@
-source [find interface/stlink-v2-1.cfg]
-
-transport select hla_swd
-
-source [find target/stm32f7x.cfg]
diff --git a/boards/nucleo32-f031/dist/openocd.cfg b/boards/nucleo32-f031/dist/openocd.cfg
deleted file mode 100644
index 4f0cfb3a02..0000000000
--- a/boards/nucleo32-f031/dist/openocd.cfg
+++ /dev/null
@@ -1 +0,0 @@
-source [find board/st_nucleo_f0.cfg]
diff --git a/boards/nucleo32-f042/dist/openocd.cfg b/boards/nucleo32-f042/dist/openocd.cfg
deleted file mode 100644
index 4f0cfb3a02..0000000000
--- a/boards/nucleo32-f042/dist/openocd.cfg
+++ /dev/null
@@ -1 +0,0 @@
-source [find board/st_nucleo_f0.cfg]
diff --git a/boards/nucleo32-f303/dist/openocd.cfg b/boards/nucleo32-f303/dist/openocd.cfg
deleted file mode 100644
index 2489007535..0000000000
--- a/boards/nucleo32-f303/dist/openocd.cfg
+++ /dev/null
@@ -1 +0,0 @@
-source [find board/st_nucleo_f3.cfg]
diff --git a/boards/nucleo32-l031/dist/openocd.cfg b/boards/nucleo32-l031/dist/openocd.cfg
deleted file mode 100644
index b4c7706757..0000000000
--- a/boards/nucleo32-l031/dist/openocd.cfg
+++ /dev/null
@@ -1,7 +0,0 @@
-source [find interface/stlink-v2-1.cfg]
-
-transport select hla_swd
-
-source [find target/stm32l0.cfg]
-
-reset_config srst_only
diff --git a/boards/nucleo32-l432/dist/openocd.cfg b/boards/nucleo32-l432/dist/openocd.cfg
deleted file mode 100644
index fd36a3272e..0000000000
--- a/boards/nucleo32-l432/dist/openocd.cfg
+++ /dev/null
@@ -1,7 +0,0 @@
-source [find interface/stlink-v2-1.cfg]
-
-transport select hla_swd
-
-source [find target/stm32l4x.cfg]
-
-reset_config srst_only srst_nogate
diff --git a/boards/pba-d-01-kw2x/Makefile.include b/boards/pba-d-01-kw2x/Makefile.include
index 84b620e03d..cbb1133753 100644
--- a/boards/pba-d-01-kw2x/Makefile.include
+++ b/boards/pba-d-01-kw2x/Makefile.include
@@ -28,6 +28,8 @@ export OPENOCD_PRE_VERIFY_CMDS += \
 export OPENOCD_EXTRA_INIT
 export PRE_FLASH_CHECK_SCRIPT = $(RIOTCPU)/$(CPU)/dist/check-fcfield-elf.sh
 
+export DEBUG_ADAPTER ?= dap
+
 # Add board selector (USB serial) to OpenOCD options if specified.
 # Use /dist/tools/usb-serial/list-ttys.sh to find out serial number.
 #   Usage: SERIAL="0200..." BOARD="pba-d-01-kw2x" make flash
diff --git a/boards/pba-d-01-kw2x/dist/openocd.cfg b/boards/pba-d-01-kw2x/dist/openocd.cfg
index f2fb040b80..e201325bbd 100644
--- a/boards/pba-d-01-kw2x/dist/openocd.cfg
+++ b/boards/pba-d-01-kw2x/dist/openocd.cfg
@@ -1,7 +1,6 @@
 #
 # Freescale Kinetis kw2xdxxx devices
 #
-source [find interface/cmsis-dap.cfg]
 
 #
 # K21 devices support both JTAG and SWD transports.
diff --git a/boards/samd21-xpro/dist/openocd.cfg b/boards/samd21-xpro/dist/openocd.cfg
index 6992633985..5219231a7e 100644
--- a/boards/samd21-xpro/dist/openocd.cfg
+++ b/boards/samd21-xpro/dist/openocd.cfg
@@ -1,2 +1,2 @@
-source [find board/atmel_samd21_xplained_pro.cfg]
+source [find target/at91samdXX.cfg]
 $_TARGETNAME configure -rtos auto
diff --git a/boards/saml21-xpro/dist/openocd.cfg b/boards/saml21-xpro/dist/openocd.cfg
index 3186498088..5219231a7e 100644
--- a/boards/saml21-xpro/dist/openocd.cfg
+++ b/boards/saml21-xpro/dist/openocd.cfg
@@ -1,2 +1,2 @@
-source [find board/atmel_saml21_xplained_pro.cfg]
+source [find target/at91samdXX.cfg]
 $_TARGETNAME configure -rtos auto
diff --git a/boards/samr21-xpro/dist/openocd.cfg b/boards/samr21-xpro/dist/openocd.cfg
index 597b433bc9..5219231a7e 100644
--- a/boards/samr21-xpro/dist/openocd.cfg
+++ b/boards/samr21-xpro/dist/openocd.cfg
@@ -1,2 +1,2 @@
-source [find board/atmel_samr21_xplained_pro.cfg]
+source [find target/at91samdXX.cfg]
 $_TARGETNAME configure -rtos auto
diff --git a/boards/seeeduino_arch-pro/Makefile.include b/boards/seeeduino_arch-pro/Makefile.include
index 73f97a001b..2e6bcda111 100644
--- a/boards/seeeduino_arch-pro/Makefile.include
+++ b/boards/seeeduino_arch-pro/Makefile.include
@@ -8,6 +8,8 @@ PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.SLAB_USBtoUART*)))
 # setup serial terminal
 include $(RIOTMAKE)/tools/serial.inc.mk
 
+DEBUG_ADAPTER ?= dap
+
 # this board uses openocd
 include $(RIOTMAKE)/tools/openocd.inc.mk
 
diff --git a/boards/seeeduino_arch-pro/dist/openocd.cfg b/boards/seeeduino_arch-pro/dist/openocd.cfg
index 52bdbff354..358384a109 100644
--- a/boards/seeeduino_arch-pro/dist/openocd.cfg
+++ b/boards/seeeduino_arch-pro/dist/openocd.cfg
@@ -1,4 +1,3 @@
-source [find interface/cmsis-dap.cfg]
 source [find target/lpc17xx.cfg]
 
 adapter_khz 500
diff --git a/boards/sodaq-autonomo/dist/openocd.cfg b/boards/sodaq-autonomo/dist/openocd.cfg
index 1cbbeb67a4..b99bc995ce 100644
--- a/boards/sodaq-autonomo/dist/openocd.cfg
+++ b/boards/sodaq-autonomo/dist/openocd.cfg
@@ -1,38 +1 @@
-#
-# SODAQ Autonomo
-#
-#  Copyright (c) 2016 SODAQ.  All right reserved.
-#
-#  This library is free software; you can redistribute it and/or
-#  modify it under the terms of the GNU Lesser General Public
-#  License as published by the Free Software Foundation; either
-#  version 2.1 of the License, or (at your option) any later version.
-#
-#  This library is distributed in the hope that it will be useful,
-#  but WITHOUT ANY WARRANTY; without even the implied warranty of
-#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-#  See the GNU Lesser General Public License for more details.
-#
-#  You should have received a copy of the GNU Lesser General Public
-#  License along with this library; if not, write to the Free Software
-#  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-#
-
-#
-# To program the Autonomo you need openocd v0.9.0 or higher
-# Here is an example bash script:
-#  #!/bin/bash
-#  ELF=${1?}
-#  OPENOCD_CMD="telnet_port disabled; init; halt; at91samd bootloader 0; program {{$ELF}} verify reset; shutdown"
-#  openocd -d2 -f boards/sodaq-autonomo/dist/openocd.cfg -c "$OPENOCD_CMD"
-
-source [find interface/cmsis-dap.cfg]
-
-# chip name
-set CHIPNAME at91samd21j18
-set ENDIAN little
-
-# choose a port here
-set telnet_port 0
-
 source [find target/at91samdXX.cfg]
diff --git a/boards/stm32f0discovery/Makefile.include b/boards/stm32f0discovery/Makefile.include
index 628b16fa30..d959daf281 100644
--- a/boards/stm32f0discovery/Makefile.include
+++ b/boards/stm32f0discovery/Makefile.include
@@ -9,5 +9,8 @@ PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.SLAB_USBtoUART*)))
 # setup serial terminal
 include $(RIOTMAKE)/tools/serial.inc.mk
 
+export DEBUG_ADAPTER ?= stlink
+export STLINK_VERSION ?= 2
+
 # this board uses openocd
 include $(RIOTMAKE)/tools/openocd.inc.mk
diff --git a/boards/stm32f0discovery/dist/openocd.cfg b/boards/stm32f0discovery/dist/openocd.cfg
index 9a408c9d13..5caf9a521a 100644
--- a/boards/stm32f0discovery/dist/openocd.cfg
+++ b/boards/stm32f0discovery/dist/openocd.cfg
@@ -1,2 +1,6 @@
-source [find board/stm32f0discovery.cfg]
+set WORKAREASIZE 0x2000
+source [find target/stm32f0x.cfg]
+
+reset_config srst_only
+
 $_TARGETNAME configure -rtos auto
diff --git a/boards/stm32f3discovery/Makefile.include b/boards/stm32f3discovery/Makefile.include
index 6e6ca2a419..03adf30a93 100644
--- a/boards/stm32f3discovery/Makefile.include
+++ b/boards/stm32f3discovery/Makefile.include
@@ -9,5 +9,8 @@ PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.SLAB_USBtoUART*)))
 # setup serial terminal
 include $(RIOTMAKE)/tools/serial.inc.mk
 
+export DEBUG_ADAPTER ?= stlink
+export STLINK_VERSION ?= 2
+
 # this board uses openocd
 include $(RIOTMAKE)/tools/openocd.inc.mk
diff --git a/boards/stm32f3discovery/dist/openocd.cfg b/boards/stm32f3discovery/dist/openocd.cfg
index d164f1c152..a9f3553259 100644
--- a/boards/stm32f3discovery/dist/openocd.cfg
+++ b/boards/stm32f3discovery/dist/openocd.cfg
@@ -1,2 +1,5 @@
-source [find board/stm32f3discovery.cfg]
+source [find target/stm32f3x.cfg]
+
+reset_config srst_only
+
 $_TARGETNAME configure -rtos auto
diff --git a/boards/stm32f4discovery/Makefile.include b/boards/stm32f4discovery/Makefile.include
index def388e08d..b0b98b3662 100644
--- a/boards/stm32f4discovery/Makefile.include
+++ b/boards/stm32f4discovery/Makefile.include
@@ -9,5 +9,8 @@ PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.SLAB_USBtoUART*)))
 # setup serial terminal
 include $(RIOTMAKE)/tools/serial.inc.mk
 
+export DEBUG_ADAPTER ?= stlink
+export STLINK_VERSION ?= 2
+
 # this board uses openocd
 include $(RIOTMAKE)/tools/openocd.inc.mk
diff --git a/boards/stm32f4discovery/dist/openocd.cfg b/boards/stm32f4discovery/dist/openocd.cfg
index a2f4a92046..fac86c6f00 100644
--- a/boards/stm32f4discovery/dist/openocd.cfg
+++ b/boards/stm32f4discovery/dist/openocd.cfg
@@ -1,2 +1,8 @@
-source [find board/stm32f4discovery.cfg]
+# increase working area to 64KB
+set WORKAREASIZE 0x10000
+
+source [find target/stm32f4x.cfg]
+
+reset_config srst_only
+
 $_TARGETNAME configure -rtos auto
diff --git a/boards/stm32f7discovery/Makefile.include b/boards/stm32f7discovery/Makefile.include
index 5e292b70bf..ccae756d4b 100644
--- a/boards/stm32f7discovery/Makefile.include
+++ b/boards/stm32f7discovery/Makefile.include
@@ -9,5 +9,8 @@ PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.SLAB_USBtoUART*)))
 # setup serial terminal
 include $(RIOTMAKE)/tools/serial.inc.mk
 
+export DEBUG_ADAPTER ?= stlink
+export STLINK_VERSION ?= 2-1
+
 # this board uses openocd
 include $(RIOTMAKE)/tools/openocd.inc.mk
diff --git a/boards/stm32f7discovery/dist/openocd.cfg b/boards/stm32f7discovery/dist/openocd.cfg
index d028c19968..7a6f129663 100644
--- a/boards/stm32f7discovery/dist/openocd.cfg
+++ b/boards/stm32f7discovery/dist/openocd.cfg
@@ -1,5 +1 @@
-source [find interface/stlink-v2-1.cfg]
-
-transport select hla_swd
-
 source [find target/stm32f7x.cfg]
diff --git a/boards/yunjia-nrf51822/Makefile.include b/boards/yunjia-nrf51822/Makefile.include
index 759cf37a4d..e4c6cac363 100644
--- a/boards/yunjia-nrf51822/Makefile.include
+++ b/boards/yunjia-nrf51822/Makefile.include
@@ -9,5 +9,8 @@ PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.SLAB_USBtoUART*)))
 # setup serial terminal
 include $(RIOTMAKE)/tools/serial.inc.mk
 
+export DEBUG_ADAPTER ?= stlink
+export STLINK_VERSION ?= 2
+
 # this board uses openocd
 include $(RIOTMAKE)/tools/openocd.inc.mk
diff --git a/boards/yunjia-nrf51822/dist/openocd.cfg b/boards/yunjia-nrf51822/dist/openocd.cfg
index 6d346ee828..d16a15a3ec 100644
--- a/boards/yunjia-nrf51822/dist/openocd.cfg
+++ b/boards/yunjia-nrf51822/dist/openocd.cfg
@@ -1,6 +1,3 @@
-source [find interface/stlink-v2.cfg]
-transport select hla_swd
-
 set WORKAREASIZE 0x4000
 source [find target/nrf51.cfg]
 $_TARGETNAME configure -rtos auto