diff --git a/boards/sparkfun/pro_micro_rp2040/board.cmake b/boards/sparkfun/pro_micro_rp2040/board.cmake
index e69de29bb2d..7d557630b9b 100644
--- a/boards/sparkfun/pro_micro_rp2040/board.cmake
+++ b/boards/sparkfun/pro_micro_rp2040/board.cmake
@@ -0,0 +1,39 @@
+# SPDX-License-Identifier: Apache-2.0
+
+# This configuration allows selecting what debug adapter debugging to use
+# for the SparkFun Pro Micro RP2040 by a command-line argument.
+# It is mainly intended to support both the 'picoprobe' and 'raspberrypi-swd'
+# adapter described in "Getting started with Raspberry Pi Pico".
+# And any other SWD debug adapter might also be usable with this configuration.
+
+# Note that the Pro Micro RP2040 SWD pins are test points on the underside
+# of the board.
+
+# Set RPI_PICO_DEBUG_ADAPTER to select debug adapter by command-line arguments.
+# e.g.) west build -b rpi_pico -- -DRPI_PICO_DEBUG_ADAPTER=raspberrypi-swd
+# The value is treated as a part of an interface file name that
+# the debugger's configuration file.
+# The value must be the 'stem' part of the name of one of the files
+# in the openocd interface configuration file.
+# The setting is store to CMakeCache.txt.
+if ("${RPI_PICO_DEBUG_ADAPTER}" STREQUAL "")
+	set(RPI_PICO_DEBUG_ADAPTER "cmsis-dap")
+endif()
+
+board_runner_args(openocd --cmd-pre-init "source [find interface/${RPI_PICO_DEBUG_ADAPTER}.cfg]")
+board_runner_args(openocd --cmd-pre-init "transport select swd")
+board_runner_args(openocd --cmd-pre-init "source [find target/rp2040.cfg]")
+
+# The adapter speed is expected to be set by interface configuration.
+# But if not so, set 2000 to adapter speed.
+board_runner_args(openocd --cmd-pre-init "set_adapter_speed_if_not_set 2000")
+
+board_runner_args(jlink "--device=RP2040_M0_0")
+board_runner_args(uf2 "--board-id=RPI-RP2")
+board_runner_args(pyocd "--target=rp2040")
+
+include(${ZEPHYR_BASE}/boards/common/uf2.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/blackmagicprobe.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/pyocd.board.cmake)
diff --git a/boards/sparkfun/pro_micro_rp2040/doc/index.rst b/boards/sparkfun/pro_micro_rp2040/doc/index.rst
index 3fa4fe40b71..cc8188aa3f1 100644
--- a/boards/sparkfun/pro_micro_rp2040/doc/index.rst
+++ b/boards/sparkfun/pro_micro_rp2040/doc/index.rst
@@ -115,12 +115,14 @@ Flashing
 Using UF2
 ---------
 
-Since it doesn't expose the SWD pins, you must flash the SparkFun Pro Micro
-RP2040 with a UF2 file. By default, building an app for this board will
-generate a `build/zephyr/zephyr.uf2` file. If the Pro Micro RP2040 is powered
-on with the `BOOTSEL` button pressed, it will appear on the host as a mass
-storage device. The UF2 file should be drag-and-dropped to the device, which
-will flash the Pro Micro RP2040.
+The Pro Micro board does make the SWD pins available on pads on the
+underside of the board. You can solder to these pins, and use a JTag
+debugger. You can also flash the SparkFun ProMicro RP2040 with a UF2 file.
+By default, building an app for this board will generate a
+`build/zephyr/zephyr.uf2` file. If the Pro Micro RP2040 is powered on with
+the `BOOTSEL` button pressed, it will appear on the host as a mass storage
+device. The UF2 file should be copied to the device, which will
+flash the Pro Micro RP2040.
 
 .. target-notes::
 
diff --git a/boards/sparkfun/pro_micro_rp2040/support/openocd.cfg b/boards/sparkfun/pro_micro_rp2040/support/openocd.cfg
new file mode 100644
index 00000000000..a9918980457
--- /dev/null
+++ b/boards/sparkfun/pro_micro_rp2040/support/openocd.cfg
@@ -0,0 +1,11 @@
+# Copyright (c) 2022 Tokita, Hiroshi <tokita.hiroshi@gmail.com>
+# SPDX-License-Identifier: Apache-2.0
+
+# Checking and set 'adapter speed'.
+# Set adapter speed that assigned by argument if not be seted.
+proc set_adapter_speed_if_not_set { speed } {
+	puts "checking adapter speed..."
+	if { [catch {adapter speed} ret] } {
+		adapter speed $speed
+	}
+}