diff --git a/examples/rules.mk b/examples/rules.mk
index a062c29c5..7ed648a8b 100644
--- a/examples/rules.mk
+++ b/examples/rules.mk
@@ -166,5 +166,6 @@ flash-stlink: $(BUILD)/$(BOARD)-firmware.elf
 # flash with pyocd
 flash-pyocd: $(BUILD)/$(BOARD)-firmware.hex
 	pyocd flash -t $(PYOCD_TARGET) $<
+	pyocd reset -t $(PYOCD_TARGET)
 
 endif # Make target
diff --git a/hw/bsp/mimxrt1010_evk/board.mk b/hw/bsp/mimxrt1010_evk/board.mk
index 6197c5365..3ff916624 100644
--- a/hw/bsp/mimxrt1010_evk/board.mk
+++ b/hw/bsp/mimxrt1010_evk/board.mk
@@ -47,6 +47,8 @@ FREERTOS_PORT = ARM_CM7/r0p1
 # For flash-jlink target
 JLINK_DEVICE = MIMXRT1011DAE5A
 
-# flash by copying bin file to DAP Mass Storage
-flash: $(BUILD)/$(BOARD)-firmware.bin
-	cp $< /media/$(USER)/RT1010-EVK/
+# For flash-pyocd target
+PYOCD_TARGET = mimxrt1010
+
+# flash using pyocd
+flash: flash-pyocd
diff --git a/hw/bsp/mimxrt1020_evk/board.mk b/hw/bsp/mimxrt1020_evk/board.mk
index c5b285b47..66bcdf89b 100644
--- a/hw/bsp/mimxrt1020_evk/board.mk
+++ b/hw/bsp/mimxrt1020_evk/board.mk
@@ -46,6 +46,8 @@ FREERTOS_PORT = ARM_CM7/r0p1
 # For flash-jlink target
 JLINK_DEVICE = MIMXRT1021DAG5A
 
-# flash by copying bin file to DAP Mass Storage
-flash: $(BUILD)/$(BOARD)-firmware.bin
-	cp $< /media/$(USER)/RT1020-EVK/
+# For flash-pyocd target
+PYOCD_TARGET = mimxrt1020
+
+# flash using pyocd
+flash: flash-pyocd
diff --git a/hw/bsp/mimxrt1050_evkb/board.mk b/hw/bsp/mimxrt1050_evkb/board.mk
index 2148f8298..123e2ea82 100644
--- a/hw/bsp/mimxrt1050_evkb/board.mk
+++ b/hw/bsp/mimxrt1050_evkb/board.mk
@@ -43,9 +43,8 @@ CHIP_FAMILY = transdimension
 # For freeRTOS port source
 FREERTOS_PORT = ARM_CM7/r0p1
 
-# For flash-jlink target
-JLINK_DEVICE = MIMXRT1052xxx6B
+# For flash-pyocd target
+PYOCD_TARGET = mimxrt1050
 
-# flash by copying bin file to DAP Mass Storage
-flash: $(BUILD)/$(BOARD)-firmware.bin
-	cp $< /media/$(USER)/RT1050-EVK/
+# flash using pyocd
+flash: flash-pyocd
diff --git a/hw/bsp/mimxrt1060_evk/board.mk b/hw/bsp/mimxrt1060_evk/board.mk
index cf4007914..5c93e1cdf 100644
--- a/hw/bsp/mimxrt1060_evk/board.mk
+++ b/hw/bsp/mimxrt1060_evk/board.mk
@@ -46,6 +46,8 @@ FREERTOS_PORT = ARM_CM7/r0p1
 # For flash-jlink target
 JLINK_DEVICE = MIMXRT1062xxx6A
 
-# flash by copying bin file to DAP Mass Storage
-flash: $(BUILD)/$(BOARD)-firmware.bin
-	cp $< /media/$(USER)/RT1060-EVK/
+# For flash-pyocd target
+PYOCD_TARGET = mimxrt1060
+
+# flash using pyocd
+flash: flash-pyocd
diff --git a/hw/bsp/mimxrt1064_evk/board.mk b/hw/bsp/mimxrt1064_evk/board.mk
index 5f230d687..f6a277497 100644
--- a/hw/bsp/mimxrt1064_evk/board.mk
+++ b/hw/bsp/mimxrt1064_evk/board.mk
@@ -46,6 +46,8 @@ FREERTOS_PORT = ARM_CM7/r0p1
 # For flash-jlink target
 JLINK_DEVICE = MIMXRT1064xxx6A
 
-# flash by copying bin file to DAP Mass Storage
-flash: $(BUILD)/$(BOARD)-firmware.bin
-	cp $< /media/$(USER)/RT1064-EVK/
+# For flash-pyocd target
+PYOCD_TARGET = mimxrt1064
+
+# flash using pyocd
+flash: flash-pyocd