diff --git a/targets/upload_method_cfg/NUMAKER_IOT_M252.cmake b/targets/upload_method_cfg/NUMAKER_IOT_M252.cmake
new file mode 100644
index 000000000000..23182c505074
--- /dev/null
+++ b/targets/upload_method_cfg/NUMAKER_IOT_M252.cmake
@@ -0,0 +1,24 @@
+# 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.
+
+# General config parameters
+# -------------------------------------------------------------
+set(UPLOAD_METHOD_DEFAULT MBED)
+
+# 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 m252kg6ae)
+set(PYOCD_CLOCK_SPEED 4000k)
+
+# Config options for OPENOCD
+# -------------------------------------------------------------
+set(OPENOCD_UPLOAD_ENABLED TRUE)
+set(OPENOCD_CHIP_CONFIG_COMMANDS
+    -f ${CMAKE_CURRENT_LIST_DIR}/openocd_cfgs/numicro_m23.cfg)
diff --git a/targets/upload_method_cfg/NUMAKER_IOT_M263A.cmake b/targets/upload_method_cfg/NUMAKER_IOT_M263A.cmake
new file mode 100644
index 000000000000..7f7d7c2c460c
--- /dev/null
+++ b/targets/upload_method_cfg/NUMAKER_IOT_M263A.cmake
@@ -0,0 +1,24 @@
+# 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.
+
+# General config parameters
+# -------------------------------------------------------------
+set(UPLOAD_METHOD_DEFAULT MBED)
+
+# 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 m263kiaae)
+set(PYOCD_CLOCK_SPEED 4000k)
+
+# Config options for OPENOCD
+# -------------------------------------------------------------
+set(OPENOCD_UPLOAD_ENABLED TRUE)
+set(OPENOCD_CHIP_CONFIG_COMMANDS
+    -f ${CMAKE_CURRENT_LIST_DIR}/openocd_cfgs/numicro_m23.cfg)
diff --git a/targets/upload_method_cfg/NUMAKER_IOT_M467.cmake b/targets/upload_method_cfg/NUMAKER_IOT_M467.cmake
new file mode 100644
index 000000000000..2410a158cf3f
--- /dev/null
+++ b/targets/upload_method_cfg/NUMAKER_IOT_M467.cmake
@@ -0,0 +1,24 @@
+# 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.
+
+# General config parameters
+# -------------------------------------------------------------
+set(UPLOAD_METHOD_DEFAULT MBED)
+
+# 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 m467hjhae)
+set(PYOCD_CLOCK_SPEED 4000k)
+
+# Config options for OPENOCD
+# -------------------------------------------------------------
+set(OPENOCD_UPLOAD_ENABLED TRUE)
+set(OPENOCD_CHIP_CONFIG_COMMANDS
+    -f ${CMAKE_CURRENT_LIST_DIR}/openocd_cfgs/numicro_m4.cfg)
diff --git a/targets/upload_method_cfg/NUMAKER_IOT_M487.cmake b/targets/upload_method_cfg/NUMAKER_IOT_M487.cmake
new file mode 100644
index 000000000000..e659ba400806
--- /dev/null
+++ b/targets/upload_method_cfg/NUMAKER_IOT_M487.cmake
@@ -0,0 +1,24 @@
+# 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.
+
+# General config parameters
+# -------------------------------------------------------------
+set(UPLOAD_METHOD_DEFAULT MBED)
+
+# 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 m487jidae)
+set(PYOCD_CLOCK_SPEED 4000k)
+
+# Config options for OPENOCD
+# -------------------------------------------------------------
+set(OPENOCD_UPLOAD_ENABLED TRUE)
+set(OPENOCD_CHIP_CONFIG_COMMANDS
+    -f ${CMAKE_CURRENT_LIST_DIR}/openocd_cfgs/numicro_m4.cfg)
diff --git a/targets/upload_method_cfg/NUMAKER_PFM_M453.cmake b/targets/upload_method_cfg/NUMAKER_PFM_M453.cmake
new file mode 100644
index 000000000000..b173f2675d85
--- /dev/null
+++ b/targets/upload_method_cfg/NUMAKER_PFM_M453.cmake
@@ -0,0 +1,18 @@
+# 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.
+
+# General config parameters
+# -------------------------------------------------------------
+set(UPLOAD_METHOD_DEFAULT MBED)
+
+# Config options for MBED
+# -------------------------------------------------------------
+set(MBED_UPLOAD_ENABLED TRUE)
+set(MBED_RESET_BAUDRATE 115200)
+
+# Config options for OPENOCD
+# -------------------------------------------------------------
+set(OPENOCD_UPLOAD_ENABLED TRUE)
+set(OPENOCD_CHIP_CONFIG_COMMANDS
+    -f ${CMAKE_CURRENT_LIST_DIR}/openocd_cfgs/numicro_m4.cfg)
diff --git a/targets/upload_method_cfg/NUMAKER_PFM_M487.cmake b/targets/upload_method_cfg/NUMAKER_PFM_M487.cmake
new file mode 100644
index 000000000000..b0e853c9a692
--- /dev/null
+++ b/targets/upload_method_cfg/NUMAKER_PFM_M487.cmake
@@ -0,0 +1,24 @@
+# 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.
+
+# General config parameters
+# -------------------------------------------------------------
+set(UPLOAD_METHOD_DEFAULT MBED)
+
+# 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 m487jidae)
+set(PYOCD_CLOCK_SPEED 4000k)
+
+# Config options for OPENOCD
+# -------------------------------------------------------------
+set(OPENOCD_UPLOAD_ENABLED TRUE)
+set(OPENOCD_CHIP_CONFIG_COMMANDS
+    -f ${CMAKE_CURRENT_LIST_DIR}/openocd_cfgs/numicro_m4.cfg)
diff --git a/targets/upload_method_cfg/NUMAKER_PFM_NANO130.cmake b/targets/upload_method_cfg/NUMAKER_PFM_NANO130.cmake
new file mode 100644
index 000000000000..74b7bfca344d
--- /dev/null
+++ b/targets/upload_method_cfg/NUMAKER_PFM_NANO130.cmake
@@ -0,0 +1,18 @@
+# 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.
+
+# General config parameters
+# -------------------------------------------------------------
+set(UPLOAD_METHOD_DEFAULT MBED)
+
+# Config options for MBED
+# -------------------------------------------------------------
+set(MBED_UPLOAD_ENABLED TRUE)
+set(MBED_RESET_BAUDRATE 115200)
+
+# Config options for OPENOCD
+# -------------------------------------------------------------
+set(OPENOCD_UPLOAD_ENABLED TRUE)
+set(OPENOCD_CHIP_CONFIG_COMMANDS
+    -f ${CMAKE_CURRENT_LIST_DIR}/openocd_cfgs/numicro_m0.cfg)
diff --git a/targets/upload_method_cfg/NUMAKER_PFM_NUC472.cmake b/targets/upload_method_cfg/NUMAKER_PFM_NUC472.cmake
new file mode 100644
index 000000000000..f5ec2173885c
--- /dev/null
+++ b/targets/upload_method_cfg/NUMAKER_PFM_NUC472.cmake
@@ -0,0 +1,18 @@
+# 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.
+
+# General config parameters
+# -------------------------------------------------------------
+set(UPLOAD_METHOD_DEFAULT MBED)
+
+# Config options for MBED
+# -------------------------------------------------------------
+set(MBED_UPLOAD_ENABLED TRUE)
+set(MBED_RESET_BAUDRATE 115200)
+
+# Config options for OPENOCD
+# -------------------------------------------------------------
+set(OPENOCD_UPLOAD_ENABLED TRUE)
+set(OPENOCD_CHIP_CONFIG_COMMANDS
+    -f ${CMAKE_CURRENT_LIST_DIR}/openocd_cfgs/numicro_m4.cfg)
diff --git a/targets/upload_method_cfg/NU_M2354.cmake b/targets/upload_method_cfg/NU_M2354.cmake
new file mode 100644
index 000000000000..d67ef70f61e8
--- /dev/null
+++ b/targets/upload_method_cfg/NU_M2354.cmake
@@ -0,0 +1,24 @@
+# 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.
+
+# General config parameters
+# -------------------------------------------------------------
+set(UPLOAD_METHOD_DEFAULT MBED)
+
+# 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 m2354kjfae)
+set(PYOCD_CLOCK_SPEED 4000k)
+
+# Config options for OPENOCD
+# -------------------------------------------------------------
+set(OPENOCD_UPLOAD_ENABLED TRUE)
+set(OPENOCD_CHIP_CONFIG_COMMANDS
+    -f ${CMAKE_CURRENT_LIST_DIR}/openocd_cfgs/numicro_m23.cfg)
diff --git a/targets/upload_method_cfg/openocd_cfgs/numicro_m0.cfg b/targets/upload_method_cfg/openocd_cfgs/numicro_m0.cfg
new file mode 100644
index 000000000000..fa2a33b299c0
--- /dev/null
+++ b/targets/upload_method_cfg/openocd_cfgs/numicro_m0.cfg
@@ -0,0 +1,4 @@
+# OpenOCD config file for Nuvoton NuMicro M0 series
+
+source [find interface/nulink.cfg]
+source [find target/numicroM0.cfg]
diff --git a/targets/upload_method_cfg/openocd_cfgs/numicro_m23.cfg b/targets/upload_method_cfg/openocd_cfgs/numicro_m23.cfg
new file mode 100644
index 000000000000..968729067e30
--- /dev/null
+++ b/targets/upload_method_cfg/openocd_cfgs/numicro_m23.cfg
@@ -0,0 +1,13 @@
+# OpenOCD config file for Nuvoton NuMicro M4 series
+
+# Meet the following warning and flash programming gets to take too long
+# to finish. Fix it by enlarging work area size. This fix will also get into
+# numicroM23.cfg in upcoming NuEclipse OpenOCD release.
+#
+# Warn : not enough working area available(requested 4096)
+# Warn : No large enough working area available, can't do block memory writes
+# Warn : couldn't use block writes, falling back to single memory accesses
+set WORKAREASIZE 0x8000
+
+source [find interface/nulink.cfg]
+source [find target/numicroM23.cfg]
diff --git a/targets/upload_method_cfg/openocd_cfgs/numicro_m4.cfg b/targets/upload_method_cfg/openocd_cfgs/numicro_m4.cfg
new file mode 100644
index 000000000000..6bbc7e61e28f
--- /dev/null
+++ b/targets/upload_method_cfg/openocd_cfgs/numicro_m4.cfg
@@ -0,0 +1,4 @@
+# OpenOCD config file for  Nuvoton NuMicro M4 series
+
+source [find interface/nulink.cfg]
+source [find target/numicroM4.cfg]