diff --git a/TESTS/mbed_drivers/timer/main.cpp b/TESTS/mbed_drivers/timer/main.cpp
index 76f2842256..d94ef6b686 100644
--- a/TESTS/mbed_drivers/timer/main.cpp
+++ b/TESTS/mbed_drivers/timer/main.cpp
@@ -45,9 +45,15 @@ extern uint32_t SystemCoreClock;
  * 1000 ms delay: tolerance = 20500 us
  *
  *  */
-#define DELTA_US(delay_ms) (500 + (delay_ms) * US_PER_MSEC / 50)
-#define DELTA_MS(delay_ms) (1 + ((delay_ms) * US_PER_MSEC / 50 / US_PER_MSEC))
-#define DELTA_S(delay_ms) (0.000500f + (((float)(delay_ms)) / MSEC_PER_SEC / 50))
+#ifdef NO_SYSTICK
+#define TOLERANCE 5
+#else
+#define TOLERANCE 2
+#endif
+
+#define DELTA_US(delay_ms) (500 + (delay_ms) * US_PER_MSEC  * TOLERANCE / 100)
+#define DELTA_MS(delay_ms) (1 + (delay_ms) * TOLERANCE / 100)
+#define DELTA_S(delay_ms) (0.000500f + ((float)(delay_ms)) * ((float)(TOLERANCE) / 100.f) / MSEC_PER_SEC)
 
 #define TICKER_FREQ_1MHZ 1000000
 #define TICKER_BITS 32
diff --git a/TESTS/mbed_hal/common_tickers/main.cpp b/TESTS/mbed_hal/common_tickers/main.cpp
index 007f74de04..b63df92c0c 100644
--- a/TESTS/mbed_hal/common_tickers/main.cpp
+++ b/TESTS/mbed_hal/common_tickers/main.cpp
@@ -344,20 +344,34 @@ void ticker_increment_test(void)
     } else {  // high frequency tickers
 
         uint32_t num_of_cycles = NUM_OF_CYCLES;
+        const uint32_t repeat_count = 20;
+        const uint32_t max_inc_val = 100;
 
         uint32_t base_tick_count = count_ticks(num_of_cycles, 1);
         uint32_t next_tick_count = base_tick_count;
         uint32_t inc_val = 0;
+        uint32_t repeat_cnt = 0;
 
-        while (inc_val < 100) {
-
+        while (inc_val < max_inc_val) {
             next_tick_count = count_ticks(num_of_cycles + inc_val, 1);
 
             if (next_tick_count == base_tick_count) {
 
-                /* Same tick count, so increase num of cycles. */
-                inc_val++;
+                /* Same tick count, so repeat 20 times and than
+                 * increase num of cycles by 1.
+                 */
+                if (repeat_cnt == repeat_count) {
+                    inc_val++;
+                    repeat_cnt = 0;
+                }
+
+                repeat_cnt++;
             } else {
+                /* Check if we got 1 tick diff. */
+                if (next_tick_count - base_tick_count == 1 ||
+                    base_tick_count - next_tick_count == 1) {
+                    break;
+                }
 
                 /* It is possible that the difference between base and next
                  * tick count on some platforms is greater that 1, in this case we need
@@ -366,12 +380,8 @@ void ticker_increment_test(void)
                  */
                 num_of_cycles /= 2;
                 inc_val = 0;
+                repeat_cnt = 0;
                 base_tick_count = count_ticks(num_of_cycles, 1);
-
-                if (next_tick_count - base_tick_count == 1 ||
-                    base_tick_count - next_tick_count == 1) {
-                    break;
-                }
             }
         }
 
diff --git a/TESTS/mbed_platform/stats_sys/main.cpp b/TESTS/mbed_platform/stats_sys/main.cpp
index 3915499b28..a9949d67db 100644
--- a/TESTS/mbed_platform/stats_sys/main.cpp
+++ b/TESTS/mbed_platform/stats_sys/main.cpp
@@ -32,10 +32,6 @@ void test_sys_info()
     mbed_stats_sys_t stats;
     mbed_stats_sys_get(&stats);
 
-#if defined(MBED_VERSION)
-    TEST_ASSERT_NOT_EQUAL(0, stats.os_version);
-#endif
-
 #if defined(__CORTEX_M)
     TEST_ASSERT_NOT_EQUAL(0, stats.cpu_id);
 #endif
diff --git a/cmsis/RTE_Components.h b/cmsis/RTE_Components.h
index 4f377cf671..f29a772109 100644
--- a/cmsis/RTE_Components.h
+++ b/cmsis/RTE_Components.h
@@ -18,7 +18,9 @@
 
 #define CMSIS_device_header <cmsis.h>
 
+#if defined(MBED_CONF_RTOS_PRESENT)
 #include "mbed_rtx_conf.h"
+#endif
 #include "mbed_cmsis_conf.h"
 
 #endif
diff --git a/features/FEATURE_BLE/ble/generic/SecurityDb.h b/features/FEATURE_BLE/ble/generic/SecurityDb.h
index b8c2ea25c8..2f75def80f 100644
--- a/features/FEATURE_BLE/ble/generic/SecurityDb.h
+++ b/features/FEATURE_BLE/ble/generic/SecurityDb.h
@@ -584,7 +584,7 @@ public:
         WhitelistDbCb_t cb,
         ::Gap::Whitelist_t *whitelist
     ) {
-        for (size_t i = 0; i < get_entry_count() && i < whitelist->capacity; i++) {
+        for (size_t i = 0; i < get_entry_count() && whitelist->size < whitelist->capacity; i++) {
             entry_handle_t db_handle = get_entry_handle_by_index(i);
             SecurityDistributionFlags_t* flags = get_distribution_flags(db_handle);
 
@@ -592,20 +592,24 @@ public:
                 continue;
             }
 
-            if (flags->peer_address_is_public) {
-                whitelist->addresses[i].type = BLEProtocol::AddressType::PUBLIC;
-            } else {
-                whitelist->addresses[i].type = BLEProtocol::AddressType::RANDOM_STATIC;
+            SecurityEntryIdentity_t* identity = read_in_entry_peer_identity(db_handle);
+            if (!identity) {
+                continue;
             }
 
-            SecurityEntryIdentity_t* identity = read_in_entry_peer_identity(db_handle);
-            if (identity) {
-                memcpy(
-                    whitelist->addresses[i].address,
-                    identity->identity_address.data(),
-                    sizeof(BLEProtocol::AddressBytes_t)
-                );
+            memcpy(
+                whitelist->addresses[whitelist->size].address,
+                identity->identity_address.data(),
+                sizeof(BLEProtocol::AddressBytes_t)
+            );
+
+            if (flags->peer_address_is_public) {
+                whitelist->addresses[whitelist->size].type = BLEProtocol::AddressType::PUBLIC;
+            } else {
+                whitelist->addresses[whitelist->size].type = BLEProtocol::AddressType::RANDOM_STATIC;
             }
+
+            whitelist->size++;
         }
 
         cb(whitelist);
diff --git a/features/FEATURE_BLE/source/generic/GenericSecurityManager.cpp b/features/FEATURE_BLE/source/generic/GenericSecurityManager.cpp
index 7a12d12fa6..d05b6f68b9 100644
--- a/features/FEATURE_BLE/source/generic/GenericSecurityManager.cpp
+++ b/features/FEATURE_BLE/source/generic/GenericSecurityManager.cpp
@@ -142,6 +142,9 @@ ble_error_t GenericSecurityManager::purgeAllBondingState(void) {
 ble_error_t GenericSecurityManager::generateWhitelistFromBondTable(Gap::Whitelist_t *whitelist) const {
     if (!_db) return BLE_ERROR_INITIALIZATION_INCOMPLETE;
     if (eventHandler) {
+        if (!whitelist) {
+            return BLE_ERROR_INVALID_PARAM;
+        }
         _db->generate_whitelist_from_bond_table(
             mbed::callback(eventHandler, &::SecurityManager::EventHandler::whitelistFromBondTable),
             whitelist
diff --git a/features/FEATURE_BLE/targets/TARGET_NORDIC/TARGET_NRF51/source/nRF5xGap.cpp b/features/FEATURE_BLE/targets/TARGET_NORDIC/TARGET_NRF51/source/nRF5xGap.cpp
index a80744df11..ac5b5404c5 100644
--- a/features/FEATURE_BLE/targets/TARGET_NORDIC/TARGET_NRF51/source/nRF5xGap.cpp
+++ b/features/FEATURE_BLE/targets/TARGET_NORDIC/TARGET_NRF51/source/nRF5xGap.cpp
@@ -1266,7 +1266,7 @@ void nRF5xGap::on_connection(Gap::Handle_t handle, const ble_gap_evt_connected_t
         const resolving_list_entry_t* entry = get_sm().resolve_address(
             evt.peer_addr.addr
         );
-        MBED_ASSERT(entry == NULL);
+        MBED_ASSERT(entry != NULL);
 
         peer_addr_type = convert_identity_address(entry->peer_identity_address_type);
         peer_address = entry->peer_identity_address.data();
diff --git a/features/FEATURE_BLE/targets/TARGET_NORDIC/TARGET_NRF52/source/nRF5xCrypto.cpp b/features/FEATURE_BLE/targets/TARGET_NORDIC/TARGET_NRF52/source/nRF5xCrypto.cpp
index b555b0dc33..8b8c57474e 100644
--- a/features/FEATURE_BLE/targets/TARGET_NORDIC/TARGET_NRF52/source/nRF5xCrypto.cpp
+++ b/features/FEATURE_BLE/targets/TARGET_NORDIC/TARGET_NRF52/source/nRF5xCrypto.cpp
@@ -47,6 +47,7 @@ namespace vendor {
 namespace nordic {
 
 CryptoToolbox::CryptoToolbox() : _initialized(false) {
+    mbedtls_platform_setup(&_platform_context);
     mbedtls_entropy_init(&_entropy_context);
     mbedtls_ecp_group_init(&_group);
     int err = mbedtls_ecp_group_load(
@@ -59,6 +60,7 @@ CryptoToolbox::CryptoToolbox() : _initialized(false) {
 CryptoToolbox::~CryptoToolbox() {
     mbedtls_ecp_group_free(&_group);
     mbedtls_entropy_free(&_entropy_context);
+    mbedtls_platform_teardown(&_platform_context);
 }
 
 bool CryptoToolbox::generate_keys(
diff --git a/features/FEATURE_BLE/targets/TARGET_NORDIC/TARGET_NRF52/source/nRF5xCrypto.h b/features/FEATURE_BLE/targets/TARGET_NORDIC/TARGET_NRF52/source/nRF5xCrypto.h
index 35c56a875e..7a522e2222 100644
--- a/features/FEATURE_BLE/targets/TARGET_NORDIC/TARGET_NRF52/source/nRF5xCrypto.h
+++ b/features/FEATURE_BLE/targets/TARGET_NORDIC/TARGET_NRF52/source/nRF5xCrypto.h
@@ -132,6 +132,7 @@ private:
     void swap_endian(uint8_t* buf, size_t len);
 
     bool _initialized;
+    mbedtls_platform_context _platform_context;
     mbedtls_entropy_context _entropy_context;
     mbedtls_ecp_group _group;
 };
diff --git a/features/FEATURE_UVISOR/includes/uvisor/api/inc/uvisor_deprecation.h b/features/FEATURE_UVISOR/includes/uvisor/api/inc/uvisor_deprecation.h
index d13d9e06c6..901d977da9 100644
--- a/features/FEATURE_UVISOR/includes/uvisor/api/inc/uvisor_deprecation.h
+++ b/features/FEATURE_UVISOR/includes/uvisor/api/inc/uvisor_deprecation.h
@@ -18,7 +18,8 @@
 #define __UVISOR_DEPRECATION_H__
 
 #if defined(UVISOR_PRESENT) && UVISOR_PRESENT == 1
-#warning "Warning: You are using FEATURE_UVISOR, which is unsupported as of Mbed OS 5.9."
+#warning "Warning: uVisor is superseded by the Secure Partition Manager (SPM) defined in the ARM Platform Security Architecture (PSA). \
+          uVisor is deprecated as of Mbed OS 5.10, and being replaced by a native PSA-compliant implementation of SPM."
 #endif
 
 #endif  // __UVISOR_DEPRECATION_H__
diff --git a/features/cryptocell/FEATURE_CRYPTOCELL310/TARGET_MCU_NRF52840/TOOLCHAIN_ARM/libnrf_cc310_ext_softfp_0.9.9.a b/features/cryptocell/FEATURE_CRYPTOCELL310/TARGET_MCU_NRF52840/TOOLCHAIN_ARM/libnrf_cc310_ext_softfp_0.9.9.a
deleted file mode 100644
index c1e7d82cb8..0000000000
Binary files a/features/cryptocell/FEATURE_CRYPTOCELL310/TARGET_MCU_NRF52840/TOOLCHAIN_ARM/libnrf_cc310_ext_softfp_0.9.9.a and /dev/null differ
diff --git a/features/cryptocell/FEATURE_CRYPTOCELL310/TARGET_MCU_NRF52840/TOOLCHAIN_ARM/libnrf_cc310_trng_softfp_0.9.9.a b/features/cryptocell/FEATURE_CRYPTOCELL310/TARGET_MCU_NRF52840/TOOLCHAIN_ARM/libnrf_cc310_trng_softfp_0.9.9.a
deleted file mode 100644
index 33f394b89a..0000000000
Binary files a/features/cryptocell/FEATURE_CRYPTOCELL310/TARGET_MCU_NRF52840/TOOLCHAIN_ARM/libnrf_cc310_trng_softfp_0.9.9.a and /dev/null differ
diff --git a/features/cryptocell/FEATURE_CRYPTOCELL310/binaries/TOOLCHAIN_ARM/libnrf_cc310_core_softfp_0.9.9.a b/features/cryptocell/FEATURE_CRYPTOCELL310/binaries/TOOLCHAIN_ARM/libnrf_cc310_core_softfp_0.9.9.a
deleted file mode 100644
index 69020fe855..0000000000
Binary files a/features/cryptocell/FEATURE_CRYPTOCELL310/binaries/TOOLCHAIN_ARM/libnrf_cc310_core_softfp_0.9.9.a and /dev/null differ
diff --git a/features/cryptocell/FEATURE_CRYPTOCELL310/binaries/TOOLCHAIN_GCC_ARM/libcc_310_core.a.mod b/features/cryptocell/FEATURE_CRYPTOCELL310/binaries/TOOLCHAIN_GCC_ARM/libcc_310_core.a.mod
deleted file mode 100644
index a644c59f6a..0000000000
Binary files a/features/cryptocell/FEATURE_CRYPTOCELL310/binaries/TOOLCHAIN_GCC_ARM/libcc_310_core.a.mod and /dev/null differ
diff --git a/features/cryptocell/FEATURE_CRYPTOCELL310/binaries/TOOLCHAIN_GCC_ARM/libcc_310_core.a~31bb423e11968b6c6cfbd1735561b06af3862622 b/features/cryptocell/FEATURE_CRYPTOCELL310/binaries/TOOLCHAIN_GCC_ARM/libcc_310_core.a~31bb423e11968b6c6cfbd1735561b06af3862622
deleted file mode 100644
index 4d0d895777..0000000000
Binary files a/features/cryptocell/FEATURE_CRYPTOCELL310/binaries/TOOLCHAIN_GCC_ARM/libcc_310_core.a~31bb423e11968b6c6cfbd1735561b06af3862622 and /dev/null differ
diff --git a/platform/mbed_error.c b/platform/mbed_error.c
index 712a1e8d25..935290e8c4 100644
--- a/platform/mbed_error.c
+++ b/platform/mbed_error.c
@@ -51,6 +51,7 @@ static mbed_error_ctx first_error_ctx = {0};
 static mbed_error_ctx last_error_ctx = {0};
 static mbed_error_hook_t error_hook = NULL;
 static void print_error_report(mbed_error_ctx *ctx, const char *);
+static mbed_error_status_t handle_error(mbed_error_status_t error_status, unsigned int error_value, const char *filename, int line_number);
 
 //Helper function to halt the system
 static void mbed_halt_system(void)
@@ -72,20 +73,23 @@ WEAK void error(const char* format, ...) {
     if (error_in_progress) {
         return;
     }
+    
+    //Call handle_error/print_error_report permanently setting error_in_progress flag
+    handle_error(MBED_ERROR_UNKNOWN, 0, NULL, 0);
+    print_error_report(&last_error_ctx, "Fatal Run-time error");
     error_in_progress = 1;
 
 #ifndef NDEBUG
     va_list arg;
     va_start(arg, format);
     mbed_error_vfprintf(format, arg);
-    MBED_ERROR(MBED_ERROR_UNKNOWN, "Fatal Run-time Error");
     va_end(arg);
 #endif
     exit(1);
 }
 
 //Set an error status with the error handling system
-mbed_error_status_t handle_error(mbed_error_status_t error_status, const char *error_msg, unsigned int error_value, const char *filename, int line_number) 
+static mbed_error_status_t handle_error(mbed_error_status_t error_status, unsigned int error_value, const char *filename, int line_number) 
 {
     mbed_error_ctx current_error_ctx;
     
@@ -129,16 +133,10 @@ mbed_error_status_t handle_error(mbed_error_status_t error_status, const char *e
 
 #ifdef MBED_CONF_ERROR_FILENAME_CAPTURE_ENABLED
     //Capture filename/linenumber if provided
-    //Index for tracking error_filename 
-    int idx = 0;
-    
-    if(NULL != filename) {
-        while(idx < MBED_CONF_MAX_ERROR_FILENAME_LEN && (filename[idx] != '\0')) {
-            current_error_ctx.error_filename[idx] = filename[idx];
-            idx++;
-        }
-        current_error_ctx.error_line_number = line_number;
-    }
+    //Index for tracking error_filename
+    memset(&current_error_ctx.error_filename, 0, MBED_CONF_MAX_ERROR_FILENAME_LEN);
+    strncpy(current_error_ctx.error_filename, filename, MBED_CONF_MAX_ERROR_FILENAME_LEN);
+    current_error_ctx.error_line_number = line_number;
 #endif
     
     //Capture the fist system error and store it
@@ -188,14 +186,14 @@ int mbed_get_error_count(void)
 //Sets a fatal error 
 mbed_error_status_t mbed_warning(mbed_error_status_t error_status, const char *error_msg, unsigned int error_value, const char *filename, int line_number) 
 {
-    return handle_error(error_status, error_msg, error_value, filename, line_number);
+    return handle_error(error_status, error_value, filename, line_number);
 }
 
 //Sets a fatal error 
 WEAK mbed_error_status_t mbed_error(mbed_error_status_t error_status, const char *error_msg, unsigned int error_value, const char *filename, int line_number) 
 {
     //set the error reported and then halt the system
-    if( MBED_SUCCESS != handle_error(error_status, error_msg, error_value, filename, line_number) )
+    if( MBED_SUCCESS != handle_error(error_status, error_value, filename, line_number) )
         return MBED_ERROR_FAILED_OPERATION;
     
     //On fatal errors print the error context/report
@@ -359,7 +357,7 @@ static void print_error_report(mbed_error_ctx *ctx, const char *error_msg)
     uint32_t error_code = MBED_GET_ERROR_CODE(ctx->error_status);
     uint32_t error_module = MBED_GET_ERROR_MODULE(ctx->error_status);
     
-    mbed_error_printf("\n\n++ MbedOS Error Info ++\nError Status: 0x%x Code: %d Entity: %d\nError Message: ", ctx->error_status, error_code, error_module);
+    mbed_error_printf("\n\n++ MbedOS Error Info ++\nError Status: 0x%x Code: %d Module: %d\nError Message: ", ctx->error_status, error_code, error_module);
     
     //Report error info based on error code, some errors require different 
     //error_vals[1] contains the error code
@@ -410,12 +408,10 @@ static void print_error_report(mbed_error_ctx *ctx, const char *error_msg)
         }
         mbed_error_printf(error_msg, NULL);
         mbed_error_printf("\nLocation: 0x%x", ctx->error_address);
-#ifdef MBED_CONF_ERROR_FILENAME_CAPTURE_ENABLED
-        if(NULL != error_ctx->error_filename) {
+#if defined(MBED_CONF_ERROR_FILENAME_CAPTURE_ENABLED) && !defined(NDEBUG)
+        if(NULL != ctx->error_filename) {
             //for string, we must pass address of a ptr which has the address of the string 
-            uint32_t *file_name = (uint32_t *)&error_ctx->error_filename[0];
-            mbed_error_printf("\nFile:%s", &file_name);
-            mbed_error_printf("+0x%x", ctx->error_line_number);
+            mbed_error_printf("\nFile:%s+%d", ctx->error_filename, ctx->error_line_number);
         }
 #endif 
 
@@ -429,7 +425,7 @@ static void print_error_report(mbed_error_ctx *ctx, const char *error_msg)
 #endif //TARGET_CORTEX_M
     }
     
-    mbed_error_printf("\n-- MbedOS Error Info --");
+    mbed_error_printf("\n-- MbedOS Error Info --\n");
 }
 
 
diff --git a/platform/mbed_error.h b/platform/mbed_error.h
index 203c89b14c..b266baf03b 100644
--- a/platform/mbed_error.h
+++ b/platform/mbed_error.h
@@ -143,12 +143,17 @@ typedef int mbed_error_status_t;
  *        Since this macro is a wrapper for mbed_warning API callers should process the return value from this macro which is the return value from calling mbed_error API.
  *
  */
-#ifdef MBED_CONF_ERROR_FILENAME_CAPTURE_ENABLED
-    #define MBED_WARNING1( error_status, error_msg, error_value )     mbed_warning( error_status, (const char *)error_msg, (uint32_t)error_value, (const char *)MBED_FILENAME, __LINE__ )
-    #define MBED_WARNING( error_status, error_msg )                   mbed_warning( error_status, (const char *)error_msg, (uint32_t)0          , (const char *)MBED_FILENAME, __LINE__ )
+#ifdef NDEBUG
+    #define MBED_WARNING1( error_status, error_msg, error_value )         mbed_warning( error_status, (const char *)NULL, (uint32_t)error_value, NULL, 0 )
+    #define MBED_WARNING( error_status, error_msg )                       mbed_warning( error_status, (const char *)NULL, (uint32_t)0,           NULL, 0 )    
 #else
-    #define MBED_WARNING1( error_status, error_msg, error_value )     mbed_warning( error_status, (const char *)error_msg, (uint32_t)error_value, NULL, 0 )
-    #define MBED_WARNING( error_status, error_msg )                   mbed_warning( error_status, (const char *)error_msg, (uint32_t)0,           NULL, 0 )    
+    #if defined(MBED_CONF_ERROR_FILENAME_CAPTURE_ENABLED)
+        #define MBED_WARNING1( error_status, error_msg, error_value )     mbed_warning( error_status, (const char *)error_msg, (uint32_t)error_value, (const char *)MBED_FILENAME, __LINE__ )
+        #define MBED_WARNING( error_status, error_msg )                   mbed_warning( error_status, (const char *)error_msg, (uint32_t)0          , (const char *)MBED_FILENAME, __LINE__ )
+    #else
+        #define MBED_WARNING1( error_status, error_msg, error_value )     mbed_warning( error_status, (const char *)error_msg, (uint32_t)error_value, NULL, 0 )
+        #define MBED_WARNING( error_status, error_msg )                   mbed_warning( error_status, (const char *)error_msg, (uint32_t)0,           NULL, 0 )    
+    #endif    
 #endif
 
 /**
@@ -170,13 +175,18 @@ typedef int mbed_error_status_t;
  *       Since this macro is a wrapper for mbed_error API callers should process the return value from this macro which is the return value from calling mbed_error API. 
  *
  */
-#ifdef MBED_CONF_ERROR_FILENAME_CAPTURE_ENABLED
-    #define MBED_ERROR1( error_status, error_msg, error_value )       mbed_error( error_status, (const char *)error_msg, (uint32_t)error_value, (const char *)MBED_FILENAME, __LINE__ )
-    #define MBED_ERROR( error_status, error_msg )                     mbed_error( error_status, (const char *)error_msg, (uint32_t)0          , (const char *)MBED_FILENAME, __LINE__ )
+#ifdef NDEBUG
+    #define MBED_ERROR1( error_status, error_msg, error_value )           mbed_error( error_status, (const char *)NULL, (uint32_t)error_value, NULL, 0 )
+    #define MBED_ERROR( error_status, error_msg )                         mbed_error( error_status, (const char *)NULL, (uint32_t)0          , NULL, 0 )
 #else
-    #define MBED_ERROR1( error_status, error_msg, error_value )       mbed_error( error_status, (const char *)error_msg, (uint32_t)error_value, NULL, 0 )
-    #define MBED_ERROR( error_status, error_msg )                     mbed_error( error_status, (const char *)error_msg, (uint32_t)0          , NULL, 0 )
-#endif         
+    #if defined(MBED_CONF_ERROR_FILENAME_CAPTURE_ENABLED)
+        #define MBED_ERROR1( error_status, error_msg, error_value )       mbed_error( error_status, (const char *)error_msg, (uint32_t)error_value, (const char *)MBED_FILENAME, __LINE__ )
+        #define MBED_ERROR( error_status, error_msg )                     mbed_error( error_status, (const char *)error_msg, (uint32_t)0          , (const char *)MBED_FILENAME, __LINE__ )
+    #else
+        #define MBED_ERROR1( error_status, error_msg, error_value )       mbed_error( error_status, (const char *)error_msg, (uint32_t)error_value, NULL, 0 )
+        #define MBED_ERROR( error_status, error_msg )                     mbed_error( error_status, (const char *)error_msg, (uint32_t)0          , NULL, 0 )
+    #endif    
+#endif
 
 //Error Type definition
 /** mbed_error_type_t definition
diff --git a/platform/mbed_stats.c b/platform/mbed_stats.c
index beaac014ce..6886ed30d2 100644
--- a/platform/mbed_stats.c
+++ b/platform/mbed_stats.c
@@ -123,9 +123,6 @@ void mbed_stats_sys_get(mbed_stats_sys_t *stats)
     memset(stats, 0, sizeof(mbed_stats_sys_t));
 
 #if defined(MBED_SYS_STATS_ENABLED)
-#if defined(MBED_VERSION)
-    stats->os_version = MBED_VERSION;
-#endif
 #if defined(__CORTEX_M)
     stats->cpu_id = SCB->CPUID;
 #endif
diff --git a/targets/TARGET_NORDIC/TARGET_NRF5x/TARGET_NRF52/TARGET_MCU_NRF52832/device/TOOLCHAIN_ARM_STD/nRF52832.sct b/targets/TARGET_NORDIC/TARGET_NRF5x/TARGET_NRF52/TARGET_MCU_NRF52832/device/TOOLCHAIN_ARM_STD/nRF52832.sct
index 2bdba912a1..79b56745a3 100644
--- a/targets/TARGET_NORDIC/TARGET_NRF5x/TARGET_NRF52/TARGET_MCU_NRF52832/device/TOOLCHAIN_ARM_STD/nRF52832.sct
+++ b/targets/TARGET_NORDIC/TARGET_NRF5x/TARGET_NRF52/TARGET_MCU_NRF52832/device/TOOLCHAIN_ARM_STD/nRF52832.sct
@@ -27,6 +27,11 @@ LR_IROM1 MBED_APP_START MBED_APP_SIZE {
   ER_IROM1 MBED_APP_START MBED_APP_SIZE {
    *.o (RESET, +First)
    *(InRoot$$Sections)
+   __start_sdh_soc_observers *(sdh_soc_observers) __stop_sdh_soc_observers
+   __start_sdh_stack_observers *(sdh_stack_observers) __stop_sdh_stack_observers
+   __start_sdh_req_observers *(sdh_req_observers) __stop_sdh_req_observers
+   __start_sdh_state_observers *(sdh_state_observers) __stop_sdh_state_observers
+   __start_sdh_ble_observers *(sdh_ble_observers) __stop_sdh_ble_observers
    .ANY (+RO)
   }
   RW_IRAM0 MBED_RAM0_START UNINIT MBED_RAM0_SIZE { ;no init section
diff --git a/targets/TARGET_NORDIC/TARGET_NRF5x/TARGET_NRF52/TARGET_MCU_NRF52840/device/TOOLCHAIN_ARM_STD/nRF52840.sct b/targets/TARGET_NORDIC/TARGET_NRF5x/TARGET_NRF52/TARGET_MCU_NRF52840/device/TOOLCHAIN_ARM_STD/nRF52840.sct
index 8aaa8a42ba..769b9212e4 100644
--- a/targets/TARGET_NORDIC/TARGET_NRF5x/TARGET_NRF52/TARGET_MCU_NRF52840/device/TOOLCHAIN_ARM_STD/nRF52840.sct
+++ b/targets/TARGET_NORDIC/TARGET_NRF5x/TARGET_NRF52/TARGET_MCU_NRF52840/device/TOOLCHAIN_ARM_STD/nRF52840.sct
@@ -27,6 +27,11 @@ LR_IROM1 MBED_APP_START MBED_APP_SIZE {
   ER_IROM1 MBED_APP_START MBED_APP_SIZE {
    *.o (RESET, +First)
    *(InRoot$$Sections)
+   __start_sdh_soc_observers *(sdh_soc_observers) __stop_sdh_soc_observers
+   __start_sdh_stack_observers *(sdh_stack_observers) __stop_sdh_stack_observers
+   __start_sdh_req_observers *(sdh_req_observers) __stop_sdh_req_observers
+   __start_sdh_state_observers *(sdh_state_observers) __stop_sdh_state_observers
+   __start_sdh_ble_observers *(sdh_ble_observers) __stop_sdh_ble_observers   
    .ANY (+RO)
   }
   RW_IRAM0 MBED_RAM0_START UNINIT MBED_RAM0_SIZE { ;no init section
diff --git a/targets/TARGET_NXP/TARGET_LPC176X/TARGET_UBLOX_C027/ublox_low_level_api.c b/targets/TARGET_NXP/TARGET_LPC176X/TARGET_UBLOX_C027/ublox_low_level_api.c
index b033d29e1e..dae2ccfb80 100644
--- a/targets/TARGET_NXP/TARGET_LPC176X/TARGET_UBLOX_C027/ublox_low_level_api.c
+++ b/targets/TARGET_NXP/TARGET_LPC176X/TARGET_UBLOX_C027/ublox_low_level_api.c
@@ -42,6 +42,7 @@ void ublox_mdm_init(void)
     // Can't use wait_ms() as RTOS isn't initialised yet
     //wait_ms(50); // when USB cable is inserted the interface chip issues
     // Here's the code from the non-RTOS version
+    us_ticker_init();
     uint32_t start = us_ticker_read();
     while ((us_ticker_read() - start) < 50000);
 }
diff --git a/tools/build.py b/tools/build.py
index f88bf339b9..52d8810eff 100644
--- a/tools/build.py
+++ b/tools/build.py
@@ -184,7 +184,7 @@ if __name__ == '__main__':
                 skipped.append(tt_id)
             else:
                 try:
-                    notify = TerminalNotifer(options.verbose, options.silent)
+                    notifier = TerminalNotifier(options.verbose, options.silent)
                     mcu = TARGET_MAP[target]
                     profile = extract_profile(parser, options, toolchain)
                     if options.source_dir:
@@ -197,6 +197,7 @@ if __name__ == '__main__':
                             name=options.artifact_name,
                             build_profile=profile,
                             ignore=options.ignore,
+                            notify = notifier,
                         )
                     else:
                         lib_build_res = build_mbed_libs(
@@ -206,6 +207,7 @@ if __name__ == '__main__':
                             macros=options.macros,
                             build_profile=profile,
                             ignore=options.ignore,
+                            notify=notifier,
                         )
 
                     for lib_id in libraries:
diff --git a/tools/build_api.py b/tools/build_api.py
index b2247fe264..cb2c0eaa76 100644
--- a/tools/build_api.py
+++ b/tools/build_api.py
@@ -458,8 +458,7 @@ def merge_region_list(region_list, destination, notify, padding=b'\xFF'):
         makedirs(dirname(destination))
     notify.info("Space used after regions merged: 0x%x" %
                 (merged.maxaddr() - merged.minaddr() + 1))
-    with open(destination, "wb+") as output:
-        merged.tofile(output, format=format.strip("."))
+    merged.tofile(destination, format=format.strip("."))
 
 def scan_resources(src_paths, toolchain, dependencies_paths=None,
                    inc_dirs=None, base_path=None, collect_ignores=False):
diff --git a/tools/build_release.py b/tools/build_release.py
index bb24eea3a3..dc03f45c90 100644
--- a/tools/build_release.py
+++ b/tools/build_release.py
@@ -36,6 +36,7 @@ from tools.test_api import SingleTestRunner
 from tools.test_api import singletest_in_cli_mode
 from tools.paths import TEST_DIR, MBED_LIBRARIES
 from tools.tests import TEST_MAP
+from tools.notifier.term import TerminalNotifier
 
 OFFICIAL_MBED_LIBRARY_BUILD = get_mbed_official_release('2')
 
@@ -168,11 +169,12 @@ if __name__ == '__main__':
                 id = "%s::%s" % (target_name, toolchain)
 
                 profile = extract_profile(parser, options, toolchain)
+                notify = TerminalNotifier(options.verbose)
 
                 try:
                     built_mbed_lib = build_mbed_libs(TARGET_MAP[target_name],
                                                      toolchain,
-                                                     verbose=options.verbose,
+                                                     notify=notify,
                                                      jobs=options.jobs,
                                                      report=build_report,
                                                      properties=build_properties,
diff --git a/tools/memap.py b/tools/memap.py
index 83201745ba..3e419e8eb7 100644
--- a/tools/memap.py
+++ b/tools/memap.py
@@ -79,7 +79,7 @@ class _Parser(object):
 
 class _GccParser(_Parser):
     RE_OBJECT_FILE = re.compile(r'^(.+\/.+\.o)$')
-    RE_LIBRARY_OBJECT = re.compile(r'^.+' + sep + r'lib((.+\.a)\((.+\.o)\))$')
+    RE_LIBRARY_OBJECT = re.compile(r'^.+' + r''.format(sep) + r'lib((.+\.a)\((.+\.o)\))$')
     RE_STD_SECTION = re.compile(r'^\s+.*0x(\w{8,16})\s+0x(\w+)\s(.+)$')
     RE_FILL_SECTION = re.compile(r'^\s*\*fill\*\s+0x(\w{8,16})\s+0x(\w+).*$')
 
diff --git a/tools/notifier/term.py b/tools/notifier/term.py
index 55f49409bc..e8bb352d25 100644
--- a/tools/notifier/term.py
+++ b/tools/notifier/term.py
@@ -14,6 +14,7 @@
 # limitations under the License.
 
 from __future__ import print_function, division, absolute_import
+from past.builtins import basestring
 
 import re
 import sys
diff --git a/tools/test/examples/examples_lib.py b/tools/test/examples/examples_lib.py
index 8fda2d3f55..9b064cadc7 100644
--- a/tools/test/examples/examples_lib.py
+++ b/tools/test/examples/examples_lib.py
@@ -10,7 +10,6 @@ import os.path
 import sys
 import subprocess
 from shutil import rmtree
-from sets import Set
 
 ROOT = abspath(dirname(dirname(dirname(dirname(__file__)))))
 sys.path.insert(0, ROOT)
@@ -254,11 +253,11 @@ def export_repos(config, ides, targets, examples):
             ides - List of IDES to export to
     """
     results = {}
-    valid_examples = Set(examples)
+    valid_examples = set(examples)
     print("\nExporting example repos....\n")
     for example in config['examples']:
         example_names = [basename(x['repo']) for x in get_repo_list(example)]
-        common_examples = valid_examples.intersection(Set(example_names))
+        common_examples = valid_examples.intersection(set(example_names))
         if not common_examples:
             continue
         export_failures = []
@@ -337,11 +336,11 @@ def compile_repos(config, toolchains, targets, profile, examples):
 
     """
     results = {}
-    valid_examples = Set(examples)
+    valid_examples = set(examples)
     print("\nCompiling example repos....\n")
     for example in config['examples']:
         example_names = [basename(x['repo']) for x in get_repo_list(example)]
-        common_examples = valid_examples.intersection(Set(example_names))
+        common_examples = valid_examples.intersection(set(example_names))
         if not common_examples:
             continue
         failures = []
diff --git a/tools/test/memap/parse_test.py b/tools/test/memap/parse_test.py
index 210a6fa9e2..6ed7ecd7e5 100644
--- a/tools/test/memap/parse_test.py
+++ b/tools/test/memap/parse_test.py
@@ -1,5 +1,6 @@
 import sys
 from io import open
+from os import sep
 from os.path import isfile, join, dirname
 import json
 
@@ -20,9 +21,12 @@ PARSED_ARM_DATA = {
 def test_parse_armcc():
     memap = MemapParser()
     memap.parse(join(dirname(__file__), "arm.map"), "ARM")
-    assert memap.modules == PARSED_ARM_DATA
-    memap.parse(join(dirname(__file__), "arm.map"), "UARM")
-    assert memap.modules == PARSED_ARM_DATA
+
+    parsed_data_os_agnostic = dict()
+    for k in PARSED_ARM_DATA:
+        parsed_data_os_agnostic[k.replace('/', sep)] = PARSED_ARM_DATA[k]
+
+    assert memap.modules == parsed_data_os_agnostic
 
 PARSED_IAR_DATA = {
     "startup/startup.o": {".text": 0xc0},
@@ -35,7 +39,12 @@ PARSED_IAR_DATA = {
 def test_parse_iar():
     memap = MemapParser()
     memap.parse(join(dirname(__file__), "iar.map"), "IAR")
-    assert memap.modules == PARSED_IAR_DATA
+
+    parsed_data_os_agnostic = dict()
+    for k in PARSED_IAR_DATA:
+        parsed_data_os_agnostic[k.replace('/', sep)] = PARSED_IAR_DATA[k]
+
+    assert memap.modules == parsed_data_os_agnostic
 
 PARSED_GCC_DATA = {
     "startup/startup.o": {".text": 0xc0},
@@ -49,9 +58,12 @@ PARSED_GCC_DATA = {
 def test_parse_gcc():
     memap = MemapParser()
     memap.parse(join(dirname(__file__), "gcc.map"), "GCC_ARM")
-    assert memap.modules == PARSED_GCC_DATA
-    memap.parse(join(dirname(__file__), "gcc.map"), "GCC_CR")
-    assert memap.modules == PARSED_GCC_DATA
+
+    parsed_data_os_agnostic = dict()
+    for k in PARSED_GCC_DATA:
+        parsed_data_os_agnostic[k.replace('/', sep)] = PARSED_GCC_DATA[k]
+
+    assert memap.modules == parsed_data_os_agnostic
 
 
 def test_add_empty_module():
diff --git a/tools/test/test_api/test_api_test.py b/tools/test/test_api/test_api_test.py
index 3a5a61fe32..255081cfe4 100644
--- a/tools/test/test_api/test_api_test.py
+++ b/tools/test/test_api/test_api_test.py
@@ -59,39 +59,3 @@ def test_find_tests_app_config(base_dir, target, toolchain_name, app_config):
             "prepare_toolchain was not called with app_config"
         assert args[1]['app_config'] == app_config,\
             "prepare_toolchain was called with an incorrect app_config"
-
-
-@pytest.mark.parametrize("build_path", ["build_path"])
-@pytest.mark.parametrize("target", ["K64F"])
-@pytest.mark.parametrize("toolchain_name", ["ARM"])
-@pytest.mark.parametrize("app_config", ["app_config", None])
-def test_find_tests_app_config(build_path, target, toolchain_name, app_config):
-    """
-    Test find_tests for correct use of app_config
-
-    :param base_dir: dummy value for the test base directory
-    :param target: the target to "test" for
-    :param toolchain_name: the toolchain to use for "testing"
-    :param app_config: Application configuration parameter to find tests
-    """
-    tests = {'test1': 'test1_path','test2': 'test2_path'}
-    src_paths = ['.']
-    set_targets_json_location()
-    with patch('tools.test_api.scan_resources') as mock_scan_resources,\
-         patch('tools.test_api.build_project') as mock_build_project,\
-         patch('tools.test_api.get_config') as mock_get_config:
-        mock_build_project.return_value = "build_project"
-        mock_scan_resources().inc_dirs.return_value = []
-        mock_get_config.return_value = ({}, "", "")
-
-        build_tests(tests, src_paths, build_path, target, toolchain_name,
-                    app_config=app_config)
-
-        arg_list = mock_build_project.call_args_list
-        for args in arg_list:
-            assert 'app_config' in args[1],\
-                "build_tests was not called with app_config"
-            assert args[1]['app_config'] == app_config,\
-                "build_tests was called with an incorrect app_config"
-        mock_get_config.called_with(src_paths, target,
-                                    toolchain_name, app_conifg=app_config)
diff --git a/tools/test/toolchains/api_test.py b/tools/test/toolchains/api_test.py
index 74199adaa4..f8ddf08e01 100644
--- a/tools/test/toolchains/api_test.py
+++ b/tools/test/toolchains/api_test.py
@@ -16,7 +16,7 @@ from tools.toolchains import TOOLCHAIN_CLASSES, LEGACY_TOOLCHAIN_NAMES,\
 from tools.targets import TARGET_MAP
 from tools.notifier.mock import MockNotifier
 
-ALPHABET = [char for char in printable if char not in [u'.', u'/']]
+ALPHABET = [char for char in printable if char not in [u'.', u'/', u'\\']]
 
 @given(fixed_dictionaries({
     'common': lists(text()),
@@ -175,7 +175,7 @@ def test_detect_duplicates(filenames):
     assert "dupe.c" in notification["message"]
     assert "dupe.cpp" in notification["message"]
 
-@given(text(alphabet=ALPHABET + ["/"], min_size=1))
+@given(text(alphabet=ALPHABET + [os.sep], min_size=1))
 @given(booleans())
 @given(booleans())
 @settings(max_examples=20)
diff --git a/tools/test_api.py b/tools/test_api.py
index 53edbd2f11..ef5ff36567 100644
--- a/tools/test_api.py
+++ b/tools/test_api.py
@@ -383,7 +383,6 @@ class SingleTestRunner(object):
                 build_mbed_libs_result = build_mbed_libs(
                     T, toolchain,
                     clean=clean_mbed_libs_options,
-                    verbose=self.opts_verbose,
                     jobs=self.opts_jobs,
                     report=build_report,
                     properties=build_properties,
@@ -463,7 +462,6 @@ class SingleTestRunner(object):
                     build_lib(lib_id,
                               T,
                               toolchain,
-                              verbose=self.opts_verbose,
                               clean=clean_mbed_libs_options,
                               jobs=self.opts_jobs,
                               report=build_report,
@@ -509,7 +507,7 @@ class SingleTestRunner(object):
                 try:
                     path = build_project(test.source_dir, join(build_dir, test_id), T,
                         toolchain, test.dependencies, clean=clean_project_options,
-                        verbose=self.opts_verbose, name=project_name, macros=MACROS,
+                        name=project_name, macros=MACROS,
                         inc_dirs=INC_DIRS, jobs=self.opts_jobs, report=build_report,
                         properties=build_properties, project_id=test_id,
                         project_description=test.get_description(),
diff --git a/tools/toolchains/__init__.py b/tools/toolchains/__init__.py
index ef4b3974f7..29bec74106 100644
--- a/tools/toolchains/__init__.py
+++ b/tools/toolchains/__init__.py
@@ -45,7 +45,7 @@ from ..memap import MemapParser
 CPU_COUNT_MIN = 1
 CPU_COEF = 1
 
-class LazyDict(dict):
+class LazyDict(object):
     def __init__(self):
         self.eager = {}
         self.lazy = {}
@@ -252,8 +252,6 @@ class Resources:
             headername = basename(filename)
             dupe_headers.setdefault(headername, set())
             dupe_headers[headername] |= set([headername])
-        for res in self.features.values():
-            res._collect_duplicates(dupe_dict, dupe_headers)
         return dupe_dict, dupe_headers
 
     def detect_duplicates(self, toolchain):
@@ -733,7 +731,7 @@ class mbedToolchain:
 
         elif ext == self.LINKER_EXT:
             if resources.linker_script is not None:
-                self.info("Warning: Multiple linker scripts detected: %s -> %s" % (resources.linker_script, file_path))
+                self.notify.info("Warning: Multiple linker scripts detected: %s -> %s" % (resources.linker_script, file_path))
             resources.linker_script = file_path
 
         elif ext == '.lib':
@@ -1085,7 +1083,7 @@ class mbedToolchain:
         lib = self.STD_LIB_NAME % name
         fout = join(dir, lib)
         if self.need_update(fout, objects):
-            self.info("Library: %s" % lib)
+            self.notify.info("Library: %s" % lib)
             self.archive(objects, fout)
             needed_update = True
 
@@ -1175,7 +1173,7 @@ class mbedToolchain:
 
         # Parse and decode a map file
         if memap.parse(abspath(map), toolchain) is False:
-            self.info("Unknown toolchain for memory statistics %s" % toolchain)
+            self.notify.info("Unknown toolchain for memory statistics %s" % toolchain)
             return None
 
         # Store the memap instance for later use