diff --git a/flight/AHRS/Makefile b/flight/AHRS/Makefile
index c203fdd59..2c9f409b5 100644
--- a/flight/AHRS/Makefile
+++ b/flight/AHRS/Makefile
@@ -290,21 +290,8 @@ LDFLAGS += -lc -lgcc
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
-# Program
-OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) $(FW_BANK_BASE) bin"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) $(FW_BANK_BASE) bin"
-# reset target
-OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
-OOCD_CL+=-c shutdown
-
-
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -336,14 +323,6 @@ endif
 endif
 endif
 
-# Program the device.
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OPENOCD${quote}
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -375,6 +354,9 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
 $(eval $(call OPF_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
 
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
+
 .PHONY: elf lss sym hex bin bino opf
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss
@@ -439,4 +421,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program install
+.PHONY : all build clean clean_list install
diff --git a/flight/Bootloaders/AHRS/Makefile b/flight/Bootloaders/AHRS/Makefile
index 1df91a1ab..41518fe7d 100644
--- a/flight/Bootloaders/AHRS/Makefile
+++ b/flight/Bootloaders/AHRS/Makefile
@@ -291,20 +291,8 @@ LDFLAGS += -lc -lgcc
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
-# Program                                                                                                                                                                                                                            
-OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) $(BL_BANK_BASE) bin"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) $(BL_BANK_BASE) bin"
-# reset target
-OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
-OOCD_CL+=-c shutdown
-
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -336,14 +324,6 @@ endif
 endif
 endif
 
-# Program the device.
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo "Programming with OPENOCD"
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -373,6 +353,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
+
 .PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss 
@@ -437,4 +420,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program install
+.PHONY : all build clean clean_list install
diff --git a/flight/Bootloaders/CopterControl/Makefile b/flight/Bootloaders/CopterControl/Makefile
index 413749cca..6507c022c 100644
--- a/flight/Bootloaders/CopterControl/Makefile
+++ b/flight/Bootloaders/CopterControl/Makefile
@@ -343,20 +343,8 @@ LDFLAGS += -lc -lgcc
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
-# Program
-OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) $(BL_BANK_BASE) bin"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) $(BL_BANK_BASE) bin"
-# reset target
-OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
-OOCD_CL+=-c shutdown
-
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -396,14 +384,6 @@ ${OUTDIR}/InitMods.c: Makefile
 	@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote}  >> ${OUTDIR}/InitMods.c
 	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
 
-# Program the device.
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OPENOCD${quote}
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -433,6 +413,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
+
 .PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss 
@@ -497,4 +480,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program install
+.PHONY : all build clean clean_list install
diff --git a/flight/Bootloaders/OpenPilot/Makefile b/flight/Bootloaders/OpenPilot/Makefile
index 1167693b3..a53479546 100644
--- a/flight/Bootloaders/OpenPilot/Makefile
+++ b/flight/Bootloaders/OpenPilot/Makefile
@@ -346,20 +346,8 @@ LDFLAGS += -lc -lgcc
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
-# Program                                                                                                                                                                                                                            
-OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) $(BL_BANK_BASE) bin"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) $(BL_BANK_BASE) bin"
-# reset target
-OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
-OOCD_CL+=-c shutdown
-
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -399,14 +387,6 @@ ${OUTDIR}/InitMods.c: Makefile
 	@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote}  >> ${OUTDIR}/InitMods.c
 	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
 
-# Program the device.
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OPENOCD${quote}
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -436,6 +416,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
+
 .PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss 
@@ -500,4 +483,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program install
+.PHONY : all build clean clean_list install
diff --git a/flight/Bootloaders/PipXtreme/Makefile b/flight/Bootloaders/PipXtreme/Makefile
index c91713cd9..faf30bc37 100644
--- a/flight/Bootloaders/PipXtreme/Makefile
+++ b/flight/Bootloaders/PipXtreme/Makefile
@@ -342,20 +342,8 @@ LDFLAGS += -lc -lgcc
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
-# Program                                                                                                                                                                                                                            
-OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) $(BL_BANK_BASE) bin"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) $(BL_BANK_BASE) bin"
-# reset target
-OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
-OOCD_CL+=-c shutdown
-
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -395,14 +383,6 @@ ${OUTDIR}/InitMods.c: Makefile
 	@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote}  >> ${OUTDIR}/InitMods.c
 	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
 
-# Program the device.
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OPENOCD${quote}
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -432,6 +412,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
+
 .PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss 
@@ -496,4 +479,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program install
+.PHONY : all build clean clean_list install
diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index 942bc45a9..f6c3c6158 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -466,21 +466,9 @@ LDFLAGS += -lc -lgcc
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
-# Program
-OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) $(FW_BANK_BASE) bin"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) $(FW_BANK_BASE) bin"
-# reset target
-OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
-OOCD_CL+=-c shutdown
-
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
 PYTHON  = python
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -531,13 +519,6 @@ ${OUTDIR}/InitMods.c: Makefile
 #	@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
 #	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
 
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OPENOCD${quote}
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -569,6 +550,9 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
 $(eval $(call OPF_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
 
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
+
 .PHONY: elf lss sym hex bin bino opf
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss
@@ -636,4 +620,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program gencode install
+.PHONY : all build clean clean_list gencode install
diff --git a/flight/INS/Makefile b/flight/INS/Makefile
index 1af2a912a..5691f6a7d 100644
--- a/flight/INS/Makefile
+++ b/flight/INS/Makefile
@@ -298,20 +298,8 @@ LDFLAGS += -lc -lgcc
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
-# Program                                                                                                                                                                                                                            
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
-# reset target
-OOCD_CL+=-c "reset run"
-# # terminate OOCD after programming
-OOCD_CL+=-c shutdown
-
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -343,14 +331,6 @@ endif
 endif
 endif
 
-# Program the device.
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OPENOCD${quote}
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -382,6 +362,9 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
 $(eval $(call OPF_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
 
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
+
 .PHONY: elf lss sym hex bin bino opf
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss
@@ -445,4 +428,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program install
+.PHONY : all build clean clean_list install
diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile
index c14a4381c..91149ae57 100644
--- a/flight/OpenPilot/Makefile
+++ b/flight/OpenPilot/Makefile
@@ -442,22 +442,9 @@ LDFLAGS += -lc -lgcc
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
-# Program
-OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) $(FW_BANK_BASE) bin"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) $(FW_BANK_BASE) bin"
-# reset target
-OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
-OOCD_CL+=-c shutdown
-
-
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
 PYTHON  = python
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -510,14 +497,6 @@ ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/p
 	@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
 	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
 
-# Program the device.
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OPENOCD${quote}
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -549,6 +528,9 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
 $(eval $(call OPF_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
 
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
+
 .PHONY: elf lss sym hex bin bino opf
 elf:  $(OUTDIR)/$(TARGET).elf
 lss:  $(OUTDIR)/$(TARGET).lss
@@ -616,4 +598,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program gencode install
+.PHONY : all build clean clean_list gencode install
diff --git a/flight/PipXtreme/Makefile b/flight/PipXtreme/Makefile
index 57dbfb8f0..1e9f3c48c 100644
--- a/flight/PipXtreme/Makefile
+++ b/flight/PipXtreme/Makefile
@@ -329,20 +329,8 @@ LDFLAGS += -lc -lgcc
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
-# Program                                                                                                                                                                                                                            
-OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) $(FW_BANK_BASE) bin"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) $(FW_BANK_BASE) bin"
-# reset target
-OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
-OOCD_CL+=-c shutdown
-
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -374,14 +362,6 @@ endif
 endif
 endif
 
-# Program the device.
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OPENOCD${quote}
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -413,6 +393,9 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
 $(eval $(call OPF_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
 
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
+
 .PHONY: elf lss sym hex bin bino opf
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss 
@@ -478,4 +461,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program install
+.PHONY : all build clean clean_list install
diff --git a/make/firmware-defs.mk b/make/firmware-defs.mk
index 9680edb16..64a553f29 100644
--- a/make/firmware-defs.mk
+++ b/make/firmware-defs.mk
@@ -47,6 +47,8 @@ MSG_PYMITEINIT       := ${quote} PY        ${quote}
 MSG_INSTALLING       := ${quote} INSTALL   ${quote}
 MSG_OPFIRMWARE       := ${quote} OPF       ${quote}
 MSG_FWINFO           := ${quote} FWINFO    ${quote}
+MSG_JTAG_PROGRAM     := ${quote} JTAG-PGM  ${quote}
+MSG_JTAG_WIPE        := ${quote} JTAG-WIPE ${quote}
 
 toprel = $(subst $(realpath $(TOP))/,,$(abspath $(1)))
 
@@ -96,6 +98,9 @@ gccversion :
 	$(V1) $(NM) -n $< > $@
 
 define SIZE_TEMPLATE
+.PHONY: size
+size: $(1)_size
+
 .PHONY: $(1)_size
 $(1)_size: $(1)
 	@echo $(MSG_SIZE) $$(call toprel, $$<)
@@ -191,21 +196,48 @@ $($(1):.c=.s) : %.s : %.c
 	$(V1) $(CC) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
 endef
 
+# $(1) = Name of binary image to write
+# $(2) = Base of flash region to write/wipe
+# $(3) = Size of flash region to write/wipe
+define JTAG_TEMPLATE
 # ---------------------------------------------------------------------------
 # Options for OpenOCD flash-programming
 # see openocd.pdf/openocd.texi for further information
 
 # if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
-OOCD_EXE=openocd
+OOCD_EXE ?= openocd
+
 # debug level
-OOCD_CL=-d0
+OOCD_JTAG_SETUP  = -d0
 # interface and board/target settings (using the OOCD target-library here)
-OOCD_CL+=-s $(TOP)/flight/Project/OpenOCD
-OOCD_CL+=-f foss-jtag.revb.cfg -f stm32.cfg
+OOCD_JTAG_SETUP += -s $(TOP)/flight/Project/OpenOCD
+OOCD_JTAG_SETUP += -f foss-jtag.revb.cfg -f stm32.cfg
 
 # initialize
-OOCD_CL+=-c init
+OOCD_BOARD_RESET = -c init
 # show the targets
-OOCD_CL+=-c targets
+#OOCD_BOARD_RESET += -c targets
 # commands to prepare flash-write
-OOCD_CL+= -c "reset halt"
+OOCD_BOARD_RESET += -c "reset halt"
+
+.PHONY: program
+program: $(1)
+	@echo $(MSG_JTAG_PROGRAM) $$(call toprel, $$<)
+	$(V1) $(OOCD_EXE) \
+		$$(OOCD_JTAG_SETUP) \
+		$$(OOCD_BOARD_RESET) \
+		-c "flash write_image erase $$< $(2) bin" \
+		-c "verify_image $$< $(2) bin" \
+		-c "reset run" \
+		-c "shutdown"
+
+.PHONY: wipe
+wipe:
+	@echo $(MSG_JTAG_WIPE) wiping $(3) bytes starting from $(2)
+	$(V1) $(OOCD_EXE) \
+		$$(OOCD_JTAG_SETUP) \
+		$$(OOCD_BOARD_RESET) \
+		-c "flash erase_address pad $(2) $(3)" \
+		-c "reset run" \
+		-c "shutdown"
+endef
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