diff --git a/.github/scripts/breakpoint.gdb b/.github/scripts/breakpoint.gdb
deleted file mode 100644
index 0da002f6ed0..00000000000
--- a/.github/scripts/breakpoint.gdb
+++ /dev/null
@@ -1,29 +0,0 @@
-# SPDX-License-Identifier: Apache-2.0
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-echo Connecting to OpenOCD...\n
-set architecture riscv:rv32
-set remotetimeout 30
-target extended-remote :3333
-
-echo Connected, waiting...\n
-shell sleep 5s
-
-echo Setting Breakpoint 1...\n
-hbreak *0x1c
-
-echo Continuing...\n
-continue
-
-delete
diff --git a/.github/scripts/breakpoint_golden.txt b/.github/scripts/breakpoint_golden.txt
deleted file mode 100644
index eeb5ad39723..00000000000
--- a/.github/scripts/breakpoint_golden.txt
+++ /dev/null
@@ -1 +0,0 @@
-Breakpoint 1, 0x0000001c in ?? ()
diff --git a/.github/scripts/dump_and_compare.sh b/.github/scripts/dump_and_compare.sh
index 354dedd67dd..378a298879c 100755
--- a/.github/scripts/dump_and_compare.sh
+++ b/.github/scripts/dump_and_compare.sh
@@ -16,13 +16,13 @@
 set -ex
 
 # Invoke GDB and dump core registers
-${GCC_PREFIX}-gdb -n --batch -x dump_registers.gdb >gdb.log
+${GCC_PREFIX}-gdb -n --batch -x test.gdb >gdb.log
 # Parse the log, extract register values. Skip those which change as the
 # program executes since we don't know at which point we tap in.
-cat gdb.log | grep -E '^ra |^sp |^gp |^tp |^t[01256] |^s[0-9]+ |^a[0-9]+ |^\$[0-9]+' >regdump.txt
+cat gdb.log | grep -E '^ra |^sp |^gp |^tp |^t[01256] |^s[0-9]+ |^a[0-9]+ |^\$[0-9]+' >gdb_test_dump.txt
 
 # Compare the dumps
 # TODO this temporarily exits with success just to allow collecting coverage data
 # without considering the truthness of register values.
-diff -E -y regdump_golden.txt regdump.txt || true
+diff -E -y gdb_test_golden.txt gdb_test_dump.txt || true
 
diff --git a/.github/scripts/dump_registers.gdb b/.github/scripts/dump_registers.gdb
deleted file mode 100644
index 6e491afd504..00000000000
--- a/.github/scripts/dump_registers.gdb
+++ /dev/null
@@ -1,24 +0,0 @@
-# SPDX-License-Identifier: Apache-2.0
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-echo Connecting to OpenOCD...\n
-set architecture riscv:rv32
-set remotetimeout 30
-target extended-remote :3333
-
-echo Connected, waiting...\n
-shell sleep 30s
-
-echo Dumping registers...\n
-info registers
diff --git a/.github/scripts/regdump_golden.txt b/.github/scripts/gdb_test_golden.txt
similarity index 74%
rename from .github/scripts/regdump_golden.txt
rename to .github/scripts/gdb_test_golden.txt
index b1913bb9d73..22a59a4a501 100644
--- a/.github/scripts/regdump_golden.txt
+++ b/.github/scripts/gdb_test_golden.txt
@@ -26,3 +26,7 @@ s10            0x0	0
 s11            0x0	0
 t5             0x0	0
 t6             0x0	0
+$1 = {0xcafebaba, 0xdeadbeef, 0xfeedbaca, 0xa5a5a5a5}
+$2 = {0x1234567, 0x89abcdef, 0x55555555, 0xaaaaaaaa}
+$3 = {0xaaaab0b7, 0xaaa08093, 0x7c009073, 0x90734191, 0x50b77f91, 0x80931234, 0xf1376780, 0x7111abcd}
+Breakpoint 1, 0x0000001c in ?? ()
diff --git a/.github/scripts/mem_access.sh b/.github/scripts/mem_access.sh
deleted file mode 100755
index bc4cabdc193..00000000000
--- a/.github/scripts/mem_access.sh
+++ /dev/null
@@ -1,27 +0,0 @@
-#!/bin/bash
-# SPDX-License-Identifier: Apache-2.0
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-set -ex
-
-# Invoke GDB
-${GCC_PREFIX}-gdb -n --batch -x mem_access.gdb >gdb.log
-# Parse the log
-cat gdb.log | grep -E '^\$[0-9]+' >out.txt
-
-# Compare the dumps
-# TODO this temporarily exits with success just to allow collecting coverage data
-# without considering the truthness of reported values.
-diff -E -y mem_access_golden.txt out.txt || true
-
diff --git a/.github/scripts/mem_access_golden.txt b/.github/scripts/mem_access_golden.txt
deleted file mode 100644
index 1f6b009253f..00000000000
--- a/.github/scripts/mem_access_golden.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-$1 = {0xcafebaba, 0xdeadbeef, 0xfeedbaca, 0xa5a5a5a5}
-$2 = {0x1234567, 0x89abcdef, 0x55555555, 0xaaaaaaaa}
-$3 = {0xaaaab0b7, 0xaaa08093, 0x7c009073, 0x90734191, 0x50b77f91, 0x80931234, 0xf1376780, 0x7111abcd}
diff --git a/.github/scripts/peripheral_access.gdb b/.github/scripts/peripheral_access.gdb
deleted file mode 100644
index 473466eebd7..00000000000
--- a/.github/scripts/peripheral_access.gdb
+++ /dev/null
@@ -1,44 +0,0 @@
-# SPDX-License-Identifier: Apache-2.0
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-echo Connecting to OpenOCD...\n
-set architecture riscv:rv32
-set remotetimeout 30
-target extended-remote :3333
-
-echo Connected, waiting...\n
-shell sleep 5s
-
-echo Accessing ECC...\n
-print/x *0x10008000@2
-print/x *0x10008008@2
-
-echo Accessing HMAC...\n
-print/x *0x10010000@2
-print/x *0x10010008@2
-
-echo Accessing SHA512...\n
-print/x *0x10020000@2
-print/x *0x10020008@2
-
-echo Accessing SHA256...\n
-print/x *0x10028000@2
-print/x *0x10028008@2
-
-echo Writing and reading DOE IV...\n
-set *(0x10000000) = 0xCAFEBABA
-set *(0x10000004) = 0xDEADBEEF
-set *(0x10000008) = 0xD0ED0E00
-print/x *0x10000000@3
-
diff --git a/.github/scripts/peripheral_access.sh b/.github/scripts/peripheral_access.sh
deleted file mode 100755
index 2db9a2f2bb8..00000000000
--- a/.github/scripts/peripheral_access.sh
+++ /dev/null
@@ -1,25 +0,0 @@
-#!/bin/bash
-# SPDX-License-Identifier: Apache-2.0
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-set -ex
-
-# Invoke GDB
-${GCC_PREFIX}-gdb -n --batch -x peripheral_access.gdb >gdb.log
-# Parse the log
-cat gdb.log | grep -E '^\$[0-9]+' >peripheral_access.txt
-
-# Compare the dumps
-diff -E -y peripheral_access_golden.txt peripheral_access.txt || true
-
diff --git a/.github/scripts/peripheral_access_golden.txt b/.github/scripts/peripheral_access_golden.txt
deleted file mode 100644
index 292097533fc..00000000000
--- a/.github/scripts/peripheral_access_golden.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-$1 = {0x63707365, 0x38342d33}
-$2 = {0x3030312e, 0x0}
-$3 = {0x6163686d, 0x61327368}
-$4 = {0x3030322e, 0x0}
-$5 = {0x61327368, 0x31322d35}
-$6 = {0x3830302e, 0x0}
-$7 = {0x61327368, 0x35362d32}
-$8 = {0x3830312e, 0x0}
-$9 = {0xcafebaba, 0xdeadbeef, 0xd0ed0e00}
diff --git a/.github/scripts/mem_access.gdb b/.github/scripts/test.gdb
similarity index 93%
rename from .github/scripts/mem_access.gdb
rename to .github/scripts/test.gdb
index ad57ad63271..005e98b5457 100644
--- a/.github/scripts/mem_access.gdb
+++ b/.github/scripts/test.gdb
@@ -18,8 +18,10 @@ set remotetimeout 30
 target extended-remote :3333
 
 echo Connected, waiting...\n
-shell sleep 5s
+shell sleep 30s
 
+echo Dumping registers...\n
+info registers
 echo Accessing DCCM...\n
 set *(0x00080000) = 0x01234567
 set *(0x00080004) = 0x89ABCDEF
@@ -119,13 +121,21 @@ set *(0xd0000008) = 0x55555555
 set *(0xd000000C) = 0xAAAAAAAA
 print/x *0xd0000000@4
 
+echo Setting Breakpoint 1...\n
+hbreak *0x1c
+
+echo Continuing...\n
+continue
+
+delete
+
+# This causes an error. Let's execute it anyway for coverage.
 echo Accessing region at 0xe0000000...\n
 set *(0xe0000000) = 0x01234567
 set *(0xe0000004) = 0x89ABCDEF
 set *(0xe0000008) = 0x55555555
 set *(0xe000000C) = 0xAAAAAAAA
 print/x *0xe0000000@4
-
 echo Accessing region at 0xf0000000...\n
 set *(0xf0000000) = 0x01234567
 set *(0xf0000004) = 0x89ABCDEF
@@ -133,3 +143,5 @@ set *(0xf0000008) = 0x55555555
 set *(0xf000000C) = 0xAAAAAAAA
 print/x *0xf0000000@4
 
+# end the simulation gracefully
+set *(volatile unsigned char*)0xd0580000 = 0xff
diff --git a/.github/workflows/test-openocd.yml b/.github/workflows/test-openocd.yml
index c18cd5e98b2..a5b3bf95572 100644
--- a/.github/workflows/test-openocd.yml
+++ b/.github/workflows/test-openocd.yml
@@ -69,82 +69,31 @@ jobs:
             -f ${RV_ROOT}/testbench/openocd_scripts/jtag_cg.tcl
           pkill openocd || true
 
-      - name: Test with GDB-test (register access)
+      - name: Test with GDB-test (register access, memory access, breakpoints)
         run: |
           # TODO GDB is in /opt/riscv and a separate toolchain is installed with apt. Make this better.
           export PATH=/opt/riscv/bin:/opt/verilator/bin:/opt/openocd/bin:$PATH
           export RV_ROOT=$(pwd)
-          mkdir reg_test
-          make -C reg_test -f ${RV_ROOT}/tools/Makefile verilator-build program.hex TEST=infinite_loop \
+          mkdir gdb_test
+          make -C gdb_test -f ${RV_ROOT}/tools/Makefile verilator-build program.hex TEST=infinite_loop \
             CONF_PARAMS="-set build_${{ matrix.bus }} -set openocd_test" COVERAGE=${{ matrix.coverage }}
-          cd reg_test
+          cd gdb_test
           ${RV_ROOT}/.github/scripts/gdb_test.sh \
             /bin/bash -c 'cd ${RV_ROOT}/.github/scripts && ./dump_and_compare.sh' || true
           pkill openocd || true
 
-      - name: Test with GDB-test (memory access)
-        run: |
-          # TODO GDB is in /opt/riscv and a separate toolchain is installed with apt. Make this better.
-          export PATH=/opt/riscv/bin:/opt/verilator/bin:/opt/openocd/bin:$PATH
-          export RV_ROOT=$(pwd)
-          mkdir mem_test
-          make -C mem_test -f ${RV_ROOT}/tools/Makefile verilator-build program.hex TEST=infinite_loop \
-            CONF_PARAMS="-set build_${{ matrix.bus }} -set openocd_test" COVERAGE=${{ matrix.coverage }}
-          cd mem_test
-          ${RV_ROOT}/.github/scripts/gdb_test.sh \
-            /bin/bash -c 'cd ${RV_ROOT}/.github/scripts && ./mem_access.sh' || true
-          pkill openocd || true
-
-      - name: Test with GDB-test (peripheral access)
-        run: |
-          # TODO REMOVE THIS TEST, as we aim to target all possible memory regions in the test above this,
-          # and there are no actual peripherals in the tesbench.
-
-          # TODO GDB is in /opt/riscv and a separate toolchain is installed with apt. Make this better.
-          export PATH=/opt/riscv/bin:/opt/verilator/bin:/opt/openocd/bin:$PATH
-          export RV_ROOT=$(pwd)
-          mkdir periph_test
-          make -C periph_test -f ${RV_ROOT}/tools/Makefile verilator-build program.hex TEST=infinite_loop \
-            CONF_PARAMS="-set build_${{ matrix.bus }} -set openocd_test" COVERAGE=${{ matrix.coverage }}
-          cd periph_test
-          ${RV_ROOT}/.github/scripts/gdb_test.sh \
-            /bin/bash -c 'cd ${RV_ROOT}/.github/scripts && ./peripheral_access.sh' || true
-          pkill openocd || true
-
-      - name: Test with GDB-test (breakpoints)
-        run: |
-          # TODO GDB is in /opt/riscv and a separate toolchain is installed with apt. Make this better.
-          export PATH=/opt/riscv/bin:/opt/verilator/bin:/opt/openocd/bin:$PATH
-          export RV_ROOT=$(pwd)
-          mkdir breakpoint_test
-          make -C breakpoint_test -f ${RV_ROOT}/tools/Makefile verilator-build program.hex TEST=infinite_loop \
-            CONF_PARAMS="-set build_${{ matrix.bus }} -set openocd_test" COVERAGE=${{ matrix.coverage }}
-          cd breakpoint_test
-          ${RV_ROOT}/.github/scripts/gdb_test.sh \
-            /bin/bash -c 'cd ${RV_ROOT}/.github/scripts && ./breakpoint.sh' || true
-          pkill openocd || true
-
       - name: Prepare coverage data
         shell: bash
         run: |
           export PATH=/opt/verilator/bin:$PATH
           export RV_ROOT=$(pwd)
           sis -d convert --dat-dir ${RV_ROOT}/run
-          sis -d convert --dat-dir ${RV_ROOT}/reg_test
-          sis -d convert --dat-dir ${RV_ROOT}/mem_test
-          sis -d convert --dat-dir ${RV_ROOT}/periph_test
-          sis -d convert --dat-dir ${RV_ROOT}/breakpoint_test
+          sis -d convert --dat-dir ${RV_ROOT}/gdb_test
           mkdir -p results
           mv ${RV_ROOT}/run/coverage.info \
              results/coverage_openocd_${{ matrix.bus }}_${{ matrix.coverage }}.info
-          mv ${RV_ROOT}/reg_test/coverage.info \
-             results/coverage_openocd_reg_test_${{ matrix.bus }}_${{ matrix.coverage }}.info
-          mv ${RV_ROOT}/mem_test/coverage.info \
-             results/coverage_openocd__mem_test_${{ matrix.bus }}_${{ matrix.coverage }}.info
-          mv ${RV_ROOT}/periph_test/coverage.info \
-             results/coverage_openocd_periph_test_${{ matrix.bus }}_${{ matrix.coverage }}.info
-          mv ${RV_ROOT}/breakpoint_test/coverage.info \
-             results/coverage_openocd_breakpoint_test_${{ matrix.bus }}_${{ matrix.coverage }}.info
+          mv ${RV_ROOT}/gdb_test/coverage.info \
+             results/coverage_openocd_gdb_test_${{ matrix.bus }}_${{ matrix.coverage }}.info
 
       - name: Pack artifacts
         if: always()