diff --git a/targets/upload_method_cfg/NUCLEO_F429ZI.cmake b/targets/upload_method_cfg/NUCLEO_F429ZI.cmake
index 664293ae6a..0df3f32cea 100644
--- a/targets/upload_method_cfg/NUCLEO_F429ZI.cmake
+++ b/targets/upload_method_cfg/NUCLEO_F429ZI.cmake
@@ -35,9 +35,7 @@ set(PYOCD_CLOCK_SPEED 4000k)
 
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
-    -f ${CMAKE_CURRENT_LIST_DIR}/openocd_cfgs/stm32f429-disco.cfg
-    -c "gdb_memory_map disable" # prevents OpenOCD crash on GDB connect
-    )
+    -f ${CMAKE_CURRENT_LIST_DIR}/openocd_cfgs/stm32f429-disco.cfg)
 
 # Config options for STM32Cube
 # -------------------------------------------------------------
diff --git a/targets/upload_method_cfg/NUCLEO_L452RE_P.cmake b/targets/upload_method_cfg/NUCLEO_L452RE_P.cmake
index f152e191f0..dd3cb5a69e 100644
--- a/targets/upload_method_cfg/NUCLEO_L452RE_P.cmake
+++ b/targets/upload_method_cfg/NUCLEO_L452RE_P.cmake
@@ -37,7 +37,6 @@ set(PYOCD_CLOCK_SPEED 4000k)
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
     -f ${CMAKE_CURRENT_LIST_DIR}/openocd_cfgs/stm32l452re.cfg
-    -c "gdb_memory_map disable" # prevents OpenOCD crash on GDB connect
     )
 
 # Config options for STM32Cube
diff --git a/tools/cmake/UploadMethodManager.cmake b/tools/cmake/UploadMethodManager.cmake
index 9bdda93ed1..ae9784263e 100644
--- a/tools/cmake/UploadMethodManager.cmake
+++ b/tools/cmake/UploadMethodManager.cmake
@@ -29,17 +29,18 @@ message(STATUS "Board upload method set to ${UPLOAD_METHOD}")
 # ----------------------------------------------
 # Generate gdbinit if needed
 
-# path where the gdbinit file will be written
-set(GDBINIT_PATH ${CMAKE_CURRENT_BINARY_DIR}/mbed-cmake.gdbinit)
-
 if(UPLOAD_SUPPORTS_DEBUG)
 	# create init file for GDB client
-	file(GENERATE OUTPUT ${GDBINIT_PATH} CONTENT
+	file(GENERATE OUTPUT ${CMAKE_BINARY_DIR}/mbed-cmake.gdbinit CONTENT
 "# connect to GDB server
 target remote localhost:${GDB_PORT}
 ")
 endif()
 
+# UPLOAD_SUPPORTS_DEBUG needs to be made into a cache variable so that it can
+# be seen by higher level directories when they call mbed_generate_upload_debug_targets()
+set(MBED_UPLOAD_SUPPORTS_DEBUG ${UPLOAD_SUPPORTS_DEBUG} CACHE INTERNAL "" FORCE)
+
 # ----------------------------------------------
 # Function for creating targets
 
@@ -48,11 +49,11 @@ function(mbed_generate_upload_debug_targets target)
 	gen_upload_target(${target} ${CMAKE_CURRENT_BINARY_DIR}/${target}.bin ${CMAKE_CURRENT_BINARY_DIR}/${target}.hex)
 
 	# add debug target
-	if(UPLOAD_SUPPORTS_DEBUG)
+	if(MBED_UPLOAD_SUPPORTS_DEBUG)
 		add_custom_target(debug-${target}
 			COMMENT "starting GDB to debug ${target}..."
 			COMMAND arm-none-eabi-gdb
-			--command=${GDBINIT_PATH}
+			--command=${CMAKE_BINARY_DIR}/mbed-cmake.gdbinit
 			$<TARGET_FILE:${target}>
 			USES_TERMINAL)
 	endif()