diff --git a/README.md b/README.md
index bcdcbbeb1..a6f301827 100644
--- a/README.md
+++ b/README.md
@@ -49,14 +49,14 @@ Requirements
 - macOS, Linux, or Windows 7 or newer
 - Microcontroller with an Arm Cortex-M CPU
 - Supported debug probe
-  - [CMSIS-DAP](http://www.keil.com/pack/doc/CMSIS/DAP/html/index.html) v1 (HID),
-    such as:
-    - An on-board debug probe using [DAPLink](https://os.mbed.com/handbook/DAPLink) firmware.
+  - [CMSIS-DAP](http://www.keil.com/pack/doc/CMSIS/DAP/html/index.html) v1 (HID), such as:
+    - An on-board or standalone debug probe using [DAPLink](https://os.mbed.com/handbook/DAPLink) firmware.
     - NXP LPC-LinkII
-  - [CMSIS-DAP](http://www.keil.com/pack/doc/CMSIS/DAP/html/index.html) v2 (WinUSB),
-    such as:
+    - NXP MCU-Link
+    - Atmel-ICE
+  - [CMSIS-DAP](http://www.keil.com/pack/doc/CMSIS/DAP/html/index.html) v2 (WinUSB), such as:
     - [DAPLink](https://os.mbed.com/handbook/DAPLink) firmware version 0254 or newer.
-    - Cypress KitProg3
+    - Cypress KitProg3 or MiniProg4
     - Keil ULINKplus
   - SEGGER J-Link (experimental)
   - STLinkV2 or STLinkV3, either on-board or the standalone versions.
diff --git a/pyocd/probe/pydapaccess/interface/common.py b/pyocd/probe/pydapaccess/interface/common.py
index 794008123..f23cbfc6b 100644
--- a/pyocd/probe/pydapaccess/interface/common.py
+++ b/pyocd/probe/pydapaccess/interface/common.py
@@ -1,5 +1,5 @@
 # pyOCD debugger
-# Copyright (c) 2019 Arm Limited
+# Copyright (c) 2019-2020 Arm Limited
 # SPDX-License-Identifier: Apache-2.0
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -30,16 +30,39 @@
 
 CMSIS_DAP_HID_USAGE_PAGE = 0xff00
 
-# Various known USB VID/PID values.
-ARM_DAPLINK_ID = (0x0d28, 0x0204)
-KEIL_ULINKPLUS_ID = (0xc251, 0x2750)
-NXP_LPCLINK2_ID = (0x1fc9, 0x0090)
+# Known USB VID/PID pairs.
+ARM_DAPLINK_ID = (0x0d28, 0x0204) # Arm DAPLink firmware
+ATMEL_ICE_ID = (0x03eb, 0x2141) # Atmel-ICE
+CYPRESS_KITPROG1_2_ID = (0x04b4, 0xf138) # Cypress KitProg1, KitProg2 in CMSIS-DAP mode
+CYPRESS_MINIPROG4_BULK_ID = (0x04b4, 0xf151) # Cypress MiniProg4 bulk
+CYPRESS_MINIPROG4_HID_ID = (0x04b4, 0xf152) # Cypress MiniProg4 HID
+CYPRESS_KITPROG3_HID_ID = (0x04b4, 0xf154) # Cypress KitProg3 HID
+CYPRESS_KITPROG3_BULKD_ID = (0x04b4, 0xf155) # Cypress KitProg3 bulk
+CYPRESS_KITPROG3_BULK_2_UART_ID = (0x04b4, 0xf166) # Cypress KitProg3 bulk with 2x UART
+KEIL_ULINKPLUS_ID = (0xc251, 0x2750) # Keil ULINKplus
+NXP_LPCLINK2_ID = (0x1fc9, 0x0090) # NXP LPC-LinkII
+NXP_MCULINK_ID = (0x1fc9, 0x0143) # NXP MCU-Link
 
 ## List of VID/PID pairs for known CMSIS-DAP USB devices.
 KNOWN_CMSIS_DAP_IDS = [
     ARM_DAPLINK_ID,
+    ATMEL_ICE_ID,
+    CYPRESS_KITPROG1_2_ID,
+    CYPRESS_MINIPROG4_BULK_ID,
+    CYPRESS_MINIPROG4_HID_ID,
+    CYPRESS_KITPROG3_HID_ID,
+    CYPRESS_KITPROG3_BULKD_ID,
+    CYPRESS_KITPROG3_BULK_2_UART_ID,
     KEIL_ULINKPLUS_ID,
     NXP_LPCLINK2_ID,
+    NXP_MCULINK_ID,
+    ]
+
+## List of VID/PID pairs for CMSIS-DAP probes that have multiple HID interfaces that must be
+# filtered by usage page. Currently these are only NXP probes.
+CMSIS_DAP_IDS_TO_FILTER_BY_USAGE_PAGE = [
+    NXP_LPCLINK2_ID,
+    NXP_MCULINK_ID,
     ]
 
 def is_known_cmsis_dap_vid_pid(vid, pid):
@@ -75,7 +98,7 @@ def filter_device_by_usage_page(vid, pid, usage_page):
     @retval True Skip the device.
     @retval False The device is valid.
     """
-    return ((vid, pid) == NXP_LPCLINK2_ID) \
+    return ((vid, pid) in CMSIS_DAP_IDS_TO_FILTER_BY_USAGE_PAGE) \
         and (usage_page != CMSIS_DAP_HID_USAGE_PAGE)
 
 def check_ep(interface, ep_index, ep_dir, ep_type):
diff --git a/udev/50-cmsis-dap.rules b/udev/50-cmsis-dap.rules
index f1ed55d08..353d93ba5 100644
--- a/udev/50-cmsis-dap.rules
+++ b/udev/50-cmsis-dap.rules
@@ -1,3 +1,21 @@
+# 04b4:f138 Cypress KitProg1/KitProg2 CMSIS-DAP mode
+SUBSYSTEM=="usb", ATTR{idVendor}=="04b4", ATTR{idProduct}=="f138", MODE:="666"
+
+# 04b4:f151 Cypress MiniProg4 CMSIS-DAPv2 Bulk + I2C/SPI/UART
+SUBSYSTEM=="usb", ATTR{idVendor}=="04b4", ATTR{idProduct}=="f151", MODE:="666"
+
+# 04b4:f152 Cypress MiniProg4 CMSIS-DAPv1 HID + I2C/SPI/UART
+SUBSYSTEM=="usb", ATTR{idVendor}=="04b4", ATTR{idProduct}=="f152", MODE:="666"
+
+# 04b4:f154 Cypress KitProg3 CMSIS-DAPv1 HID + I2C/SPI/UART
+SUBSYSTEM=="usb", ATTR{idVendor}=="04b4", ATTR{idProduct}=="f154", MODE:="666"
+
+# 04b4:f155 Cypress KitProg3 CMSIS-DAPv2 Bulk + I2C/SPI/UART
+SUBSYSTEM=="usb", ATTR{idVendor}=="04b4", ATTR{idProduct}=="f155", MODE:="666"
+
+# 04b4:f166 Cypress KitProg3 CMSIS-DAPv2 Bulk + 2xUART
+SUBSYSTEM=="usb", ATTR{idVendor}=="04b4", ATTR{idProduct}=="f166", MODE:="666"
+
 # 0d28:0204 DAPLink
 SUBSYSTEM=="usb", ATTR{idVendor}=="0d28", ATTR{idProduct}=="0204", MODE:="666"
 
@@ -7,5 +25,13 @@ SUBSYSTEM=="usb", ATTR{idVendor}=="c251", ATTR{idProduct}=="2750", MODE:="666"
 # 1fc9:0090 NXP LPC-LinkII
 SUBSYSTEM=="usb", ATTR{idVendor}=="1fc9", ATTR{idProduct}=="0090", MODE:="666"
 
+# 1fc9:0143 NXP MCU-Link
+SUBSYSTEM=="usb", ATTR{idVendor}=="1fc9", ATTR{idProduct}=="0143", MODE:="666"
+
 # 03eb:2141 Atmel-ICE CMSIS-DAP
 SUBSYSTEM=="usb", ATTR{idVendor}=="03eb", ATTR{idProduct}=="2141", MODE:="666"
+
+# If you share your linux system with other users, or just don't like the
+# idea of write permission for everybody, you can replace MODE:="0666" with
+# OWNER:="yourusername" to create the device owned by you, or with
+# GROUP:="somegroupname" and mange access using standard unix groups.
diff --git a/udev/README.md b/udev/README.md
index 5a757b5ef..2b894d8fe 100755
--- a/udev/README.md
+++ b/udev/README.md
@@ -8,12 +8,16 @@ discouraged.
 
 The following debug probes are supported:
 
+- Cypress KitProg1/KitProg2 in CMSIS-DAP mode
+- Cypress KitProg3
+- Cypress MiniProg4
 - DAPLink
 - STLinkV2
 - STLinkV2-1
 - STLinkV3
 - Keil ULINKplus
 - NXP LPC-LinkII
+- NXP MCU-Link
 
 
 To install, copy the rules files in this directory to `/etc/udev/rules.d/` on Ubuntu:
@@ -38,9 +42,9 @@ $ sudo udevadm control --reload
 $ sudo udevadm trigger
 ```
 
-By default, the rules provide open access to the debug probes for all users. If you share your Linux
-system with other users, or just don't like the idea of write permission for everybody, you can
-replace `MODE:="0666"` with `OWNER:="yourusername"` to create the device owned by you, or with
-`GROUP:="somegroupname"` and mange access using standard Unix groups.
+By default, the rules provide open access to the debug probes for all users (0666 permissions).
+If you share your Linux system with other users, or just don't like the idea of write permission
+for everybody, you can replace `MODE:="0666"` with `OWNER:="yourusername"` to create the device
+owned by you, or with `GROUP:="somegroupname"` and mange access using standard Unix groups.
 
 _Note: STLink rules provided courtesy of STMicroelectronics._