diff --git a/TESTS/configs/baremetal.json b/TESTS/configs/baremetal.json
new file mode 100644
index 00000000000..11a232ca369
--- /dev/null
+++ b/TESTS/configs/baremetal.json
@@ -0,0 +1,42 @@
+{ 
+    "requires": [ 
+        "bare-metal", 
+        "rtos-api",
+        "greentea-client", 
+        "utest", 
+        "unity",
+        "psa",
+        "mbed-crypto",        
+        "mbedtls",
+        "psa-compliance-framework",
+        "filesystem",
+        "littlefs",
+        "mbed-trace",
+        "device_key",
+        "storage_tdb_internal",
+        "storage_filesystem",
+        "storage_tdb_external",
+        "lora",
+        "nfc",
+        "network-emac",
+        "nanostack-libservice",
+        "flashiap-block-device",
+        "system-storage",
+        "filesystemstore",
+        "SecureStore",
+        "storage",
+        "kv-map",
+        "direct-access-devicekey",
+        "tdbstore",
+        "kv-config",
+        "events",
+        "kv-global-api",
+        "sd",
+        "nvstore"
+    ],
+    "target_overrides": {
+        "*": {
+            "target.device_has_remove": ["EMAC", "USBDEVICE"]
+        }
+     }
+}
diff --git a/TESTS/events/queue/main.cpp b/TESTS/events/queue/main.cpp
index 8f6b8e45dc0..3367622888c 100644
--- a/TESTS/events/queue/main.cpp
+++ b/TESTS/events/queue/main.cpp
@@ -15,7 +15,6 @@
  */
 #include "mbed_events.h"
 #include "mbed.h"
-#include "rtos.h"
 #include "greentea-client/test_env.h"
 #include "unity.h"
 #include "utest.h"
diff --git a/TESTS/events/timing/main.cpp b/TESTS/events/timing/main.cpp
index 146d5de7642..5bf873d061c 100644
--- a/TESTS/events/timing/main.cpp
+++ b/TESTS/events/timing/main.cpp
@@ -15,7 +15,6 @@
  */
 #include "mbed_events.h"
 #include "mbed.h"
-#include "rtos.h"
 #include "greentea-client/test_env.h"
 #include "unity.h"
 #include "utest.h"
diff --git a/TESTS/integration/COMMON/download_test.cpp b/TESTS/integration/COMMON/download_test.cpp
index 8a637219c06..dea90ede773 100644
--- a/TESTS/integration/COMMON/download_test.cpp
+++ b/TESTS/integration/COMMON/download_test.cpp
@@ -21,6 +21,8 @@
  * Based on mbed-stress-test by Marcus Chang @ Arm Mbed - http://github.com/ARMmbed/mbed-stress-test
 */
 
+#if INTEGRATION_TESTS
+
 #include "mbed.h"
 #include "unity/unity.h"
 #include "greentea-client/test_env.h"
@@ -202,4 +204,4 @@ size_t download_test(NetworkInterface *interface, const unsigned char *data, siz
 
     return received_bytes;
 }
-
+#endif // INTEGRATION_TESTS
diff --git a/TESTS/integration/COMMON/download_test.h b/TESTS/integration/COMMON/download_test.h
index c38783ab939..d755b2c9e85 100644
--- a/TESTS/integration/COMMON/download_test.h
+++ b/TESTS/integration/COMMON/download_test.h
@@ -20,6 +20,5 @@
 /*
  * Based on mbed-stress-test by Marcus Chang @ Arm Mbed - http://github.com/ARMmbed/mbed-stress-test
 */
-
 size_t download_test(NetworkInterface *interface, const unsigned char *data, size_t data_length, size_t buff_size, uint32_t thread_id = 0);
 
diff --git a/TESTS/integration/COMMON/file_test.cpp b/TESTS/integration/COMMON/file_test.cpp
index 2251b32507f..77a2859fe12 100644
--- a/TESTS/integration/COMMON/file_test.cpp
+++ b/TESTS/integration/COMMON/file_test.cpp
@@ -20,6 +20,7 @@
 /*
  * Based on mbed-stress-test by Marcus Chang @ Arm Mbed - http://github.com/ARMmbed/mbed-stress-test
 */
+#if INTEGRATION_TESTS
 
 #include "mbed.h"
 #include "unity/unity.h"
@@ -103,3 +104,4 @@ void file_test_read(const char *file, size_t offset, const unsigned char *data,
            float(data_length) / 1024, float(data_length) / timer.read() / 1024, timer.read());
 }
 
+#endif //#if INTEGRATION_TESTS
diff --git a/TESTS/integration/COMMON/file_test.h b/TESTS/integration/COMMON/file_test.h
index 05f0b9aa7e6..bde36948134 100644
--- a/TESTS/integration/COMMON/file_test.h
+++ b/TESTS/integration/COMMON/file_test.h
@@ -20,7 +20,6 @@
 /*
  * Based on mbed-stress-test by Marcus Chang @ Arm Mbed - http://github.com/ARMmbed/mbed-stress-test
 */
-
 void file_test_write(const char *file, size_t offset, const unsigned char *data, size_t data_length, size_t block_size);
 
 void file_test_read(const char *file, size_t offset, const unsigned char *data, size_t data_length, size_t block_size);
diff --git a/TESTS/integration/fs-single/main.cpp b/TESTS/integration/fs-single/main.cpp
index 7a423b685ee..5fb2ca1840c 100644
--- a/TESTS/integration/fs-single/main.cpp
+++ b/TESTS/integration/fs-single/main.cpp
@@ -21,6 +21,10 @@
  * Based on mbed-stress-test by Marcus Chang @ Arm Mbed - http://github.com/ARMmbed/mbed-stress-test
 */
 
+#if !INTEGRATION_TESTS
+#error [NOT_SUPPORTED] integration tests not enabled for this target
+#else
+
 #include "mbed.h"
 #include "FATFileSystem.h"
 #include "LittleFileSystem.h"
@@ -30,10 +34,6 @@
 #include "common_defines_test.h"
 #include "file_test.h"
 
-#if !INTEGRATION_TESTS
-#error [NOT_SUPPORTED] integration tests not enabled for this target
-#endif
-
 #ifdef MBED_CONF_APP_BASICS_TEST_FILENAME
 #include MBED_CONF_APP_BASICS_TEST_FILENAME
 #else
@@ -162,3 +162,4 @@ int main()
 
     return !Harness::run(specification);
 }
+#endif // !INTEGRATION_TESTS
diff --git a/TESTS/integration/fs-threaded/main.cpp b/TESTS/integration/fs-threaded/main.cpp
index 06a0b8a5b45..f1af5dbc065 100644
--- a/TESTS/integration/fs-threaded/main.cpp
+++ b/TESTS/integration/fs-threaded/main.cpp
@@ -21,6 +21,10 @@
  * Based on mbed-stress-test by Marcus Chang @ Arm Mbed - http://github.com/ARMmbed/mbed-stress-test
 */
 
+#if !INTEGRATION_TESTS
+#error [NOT_SUPPORTED] integration tests not enabled for this target
+#else
+
 #include "mbed.h"
 #include "FATFileSystem.h"
 #include "LittleFileSystem.h"
@@ -30,10 +34,6 @@
 #include "common_defines_test.h"
 #include "file_test.h"
 
-#if !INTEGRATION_TESTS
-#error [NOT_SUPPORTED] integration tests not enabled for this target
-#endif
-
 #ifdef MBED_CONF_APP_BASICS_TEST_FILENAME
 #include MBED_CONF_APP_BASICS_TEST_FILENAME
 #else
@@ -181,3 +181,4 @@ int main()
 
     return !Harness::run(specification);
 }
+#endif // !INTEGRATION_TESTS
diff --git a/TESTS/integration/net-single/main.cpp b/TESTS/integration/net-single/main.cpp
index 7d91a3af29f..22031cb8142 100644
--- a/TESTS/integration/net-single/main.cpp
+++ b/TESTS/integration/net-single/main.cpp
@@ -21,6 +21,10 @@
  * Based on mbed-stress-test by Marcus Chang @ Arm Mbed - http://github.com/ARMmbed/mbed-stress-test
 */
 
+#if !INTEGRATION_TESTS
+#error [NOT_SUPPORTED] integration tests not enabled for this target
+#else
+
 #include "mbed.h"
 #include "utest/utest.h"
 #include "unity/unity.h"
@@ -29,10 +33,6 @@
 #include "download_test.h"
 #include <string>
 
-#if !INTEGRATION_TESTS
-#error [NOT_SUPPORTED] integration tests not enabled for this target
-#endif
-
 #ifdef MBED_CONF_APP_BASICS_TEST_FILENAME
 #include MBED_CONF_APP_BASICS_TEST_FILENAME
 #else
@@ -139,3 +139,4 @@ int main()
 
     return !Harness::run(specification);
 }
+#endif // !INTEGRATION_TESTS
diff --git a/TESTS/integration/net-threaded/main.cpp b/TESTS/integration/net-threaded/main.cpp
index ddd12cb469e..7238d4129e6 100644
--- a/TESTS/integration/net-threaded/main.cpp
+++ b/TESTS/integration/net-threaded/main.cpp
@@ -21,6 +21,10 @@
  * Based on mbed-stress-test by Marcus Chang @ Arm Mbed - http://github.com/ARMmbed/mbed-stress-test
 */
 
+#if !INTEGRATION_TESTS
+#error [NOT_SUPPORTED] integration tests not enabled for this target
+#else
+
 #include "mbed.h"
 #include "utest/utest.h"
 #include "unity/unity.h"
@@ -29,10 +33,6 @@
 #include "download_test.h"
 #include <string>
 
-#if !INTEGRATION_TESTS
-#error [NOT_SUPPORTED] integration tests not enabled for this target
-#endif
-
 #ifdef MBED_CONF_APP_BASICS_TEST_FILENAME
 #include MBED_CONF_APP_BASICS_TEST_FILENAME
 #else
@@ -173,3 +173,4 @@ int main()
 
     return !Harness::run(specification);
 }
+#endif // !INTEGRATION_TESTS
diff --git a/TESTS/integration/stress-net-fs/main.cpp b/TESTS/integration/stress-net-fs/main.cpp
index 5ec201f43a6..8024ebc97b7 100644
--- a/TESTS/integration/stress-net-fs/main.cpp
+++ b/TESTS/integration/stress-net-fs/main.cpp
@@ -21,6 +21,10 @@
  * Based on mbed-stress-test by Marcus Chang @ Arm Mbed - http://github.com/ARMmbed/mbed-stress-test
 */
 
+#if !INTEGRATION_TESTS
+#error [NOT_SUPPORTED] integration tests not enabled for this target
+#else
+
 #include "mbed.h"
 #include "FATFileSystem.h"
 #include "LittleFileSystem.h"
@@ -32,9 +36,6 @@
 #include "file_test.h"
 #include <string>
 
-#if !INTEGRATION_TESTS
-#error [NOT_SUPPORTED] integration tests not enabled for this target
-#endif
 
 #ifdef MBED_CONF_APP_BASICS_TEST_FILENAME
 #include MBED_CONF_APP_BASICS_TEST_FILENAME
@@ -243,3 +244,4 @@ int main()
 
     return !Harness::run(specification);
 }
+#endif // !INTEGRATION_TESTS
diff --git a/TESTS/mbed_drivers/crc/main.cpp b/TESTS/mbed_drivers/crc/main.cpp
index 129c1c9b2f0..8081a089cfa 100644
--- a/TESTS/mbed_drivers/crc/main.cpp
+++ b/TESTS/mbed_drivers/crc/main.cpp
@@ -134,6 +134,7 @@ void test_thread(void)
     TEST_ASSERT_EQUAL(0xCBF43926, crc);
 }
 
+#if defined(MBED_CONF_RTOS_PRESENT)
 void test_thread_safety()
 {
     char  test[] = "123456789";
@@ -153,13 +154,16 @@ void test_thread_safety()
     // Wait for the thread to finish
     t1.join();
 }
+#endif
 
 Case cases[] = {
     Case("Test supported polynomials", test_supported_polynomials),
     Case("Test partial CRC", test_partial_crc),
     Case("Test SD CRC polynomials", test_sd_crc),
-    Case("Test not supported polynomials", test_any_polynomial),
-    Case("Test thread safety", test_thread_safety)
+#if defined(MBED_CONF_RTOS_PRESENT)
+    Case("Test thread safety", test_thread_safety),
+#endif
+    Case("Test not supported polynomials", test_any_polynomial)
 };
 
 utest::v1::status_t greentea_test_setup(const size_t number_of_cases)
diff --git a/TESTS/mbed_drivers/lp_timeout/main.cpp b/TESTS/mbed_drivers/lp_timeout/main.cpp
index 6eb8c142040..ab80d2e8b6d 100644
--- a/TESTS/mbed_drivers/lp_timeout/main.cpp
+++ b/TESTS/mbed_drivers/lp_timeout/main.cpp
@@ -13,6 +13,9 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] Low power timer test cases require a RTOS to run.
+#else
 
 #if !DEVICE_LPTICKER
 #error [NOT_SUPPORTED] Low power timer not supported for this target
@@ -95,3 +98,4 @@ int main()
 }
 
 #endif // !DEVICE_LPTICKER
+#endif //!defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/mbed_drivers/lp_timer/main.cpp b/TESTS/mbed_drivers/lp_timer/main.cpp
index 390c6e23376..5f40cd63bf6 100644
--- a/TESTS/mbed_drivers/lp_timer/main.cpp
+++ b/TESTS/mbed_drivers/lp_timer/main.cpp
@@ -19,7 +19,6 @@
 #include "greentea-client/test_env.h"
 #include "unity.h"
 #include "utest.h"
-#include "rtos.h"
 #include "hal/us_ticker_api.h"
 
 #if !DEVICE_LPTICKER
diff --git a/TESTS/mbed_drivers/race_test/main.cpp b/TESTS/mbed_drivers/race_test/main.cpp
index 8f896e25187..d5f54d87dca 100644
--- a/TESTS/mbed_drivers/race_test/main.cpp
+++ b/TESTS/mbed_drivers/race_test/main.cpp
@@ -14,6 +14,14 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] Race test test cases require RTOS with multithread to run
+#else
+
+#if !DEVICE_USTICKER
+#error [NOT_SUPPORTED] UsTicker need to be enabled for this test.
+#else
+
 #include "mbed.h"
 #include "rtos.h"
 #include "greentea-client/test_env.h"
@@ -22,10 +30,6 @@
 #include "SingletonPtr.h"
 #include <stdio.h>
 
-#if defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
-#error [NOT_SUPPORTED] Test not supported for single threaded enviroment. UsTicker need to be enabled for this test.
-#else
-
 using namespace utest::v1;
 
 #define TEST_STACK_SIZE     512
@@ -132,4 +136,5 @@ int main()
     Harness::run(specification);
 }
 
-#endif // defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
+#endif // !DEVICE_USTICKER
+#endif // defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_THREAD)
diff --git a/TESTS/mbed_drivers/rtc/main.cpp b/TESTS/mbed_drivers/rtc/main.cpp
index 8cdb54581c5..00478a10b78 100644
--- a/TESTS/mbed_drivers/rtc/main.cpp
+++ b/TESTS/mbed_drivers/rtc/main.cpp
@@ -18,7 +18,6 @@
 #include "greentea-client/test_env.h"
 #include "unity.h"
 #include "utest.h"
-#include "rtos.h"
 #include "rtc_api.h"
 
 #if !DEVICE_RTC || !DEVICE_USTICKER
diff --git a/TESTS/mbed_drivers/timer/main.cpp b/TESTS/mbed_drivers/timer/main.cpp
index 317ce916f20..dbd13b149bd 100644
--- a/TESTS/mbed_drivers/timer/main.cpp
+++ b/TESTS/mbed_drivers/timer/main.cpp
@@ -19,7 +19,6 @@
 #include "greentea-client/test_env.h"
 #include "unity.h"
 #include "utest.h"
-#include "rtos.h"
 #include "hal/us_ticker_api.h"
 
 #if !DEVICE_USTICKER
diff --git a/TESTS/mbed_drivers/watchdog/main.cpp b/TESTS/mbed_drivers/watchdog/main.cpp
index db42107bf28..26fd84b0f12 100644
--- a/TESTS/mbed_drivers/watchdog/main.cpp
+++ b/TESTS/mbed_drivers/watchdog/main.cpp
@@ -14,6 +14,11 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] Watchdog test cases require a RTOS to run.
+#else
+
 #if !DEVICE_WATCHDOG
 #error [NOT_SUPPORTED] Watchdog not supported for this target
 #else
@@ -284,3 +289,4 @@ int main()
 }
 
 #endif // !DEVICE_WATCHDOG
+#endif // !defined(MBED_CONG_RTOS_PRESENT)
diff --git a/TESTS/mbed_drivers/watchdog_reset/main.cpp b/TESTS/mbed_drivers/watchdog_reset/main.cpp
index 0732d98fa43..1c9a7a3617e 100644
--- a/TESTS/mbed_drivers/watchdog_reset/main.cpp
+++ b/TESTS/mbed_drivers/watchdog_reset/main.cpp
@@ -14,6 +14,10 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] Watchdog reset test cases require a RTOS to run.
+#else
+
 #if !DEVICE_WATCHDOG
 #error [NOT_SUPPORTED] Watchdog not supported for this target
 #else
@@ -334,3 +338,4 @@ int main()
     return !Harness::run(specification);
 }
 #endif // !DEVICE_WATCHDOG
+#endif // !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/mbed_hal/common_tickers/main.cpp b/TESTS/mbed_hal/common_tickers/main.cpp
index df78f1469c2..cbe5dd20aa5 100644
--- a/TESTS/mbed_hal/common_tickers/main.cpp
+++ b/TESTS/mbed_hal/common_tickers/main.cpp
@@ -13,6 +13,11 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+
+#if !defined(MBED_RTOS_CONF_PRESENT)
+#error [NOT_SUPPORTED] usticker test cases require a RTOS to run
+#else
+
 #include "mbed.h"
 #include "greentea-client/test_env.h"
 #include "unity.h"
@@ -606,3 +611,4 @@ int main()
     return !Harness::run(specification);
 }
 #endif // !DEVICE_USTICKER
+#endif // !defined(MBED_RTOS_CONF_PRESENT)
diff --git a/TESTS/mbed_hal/common_tickers_freq/main.cpp b/TESTS/mbed_hal/common_tickers_freq/main.cpp
index a91abf86d72..8a221623f48 100644
--- a/TESTS/mbed_hal/common_tickers_freq/main.cpp
+++ b/TESTS/mbed_hal/common_tickers_freq/main.cpp
@@ -20,6 +20,9 @@
  * freqency is valid.
  */
 
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] common tickers frequency test cases require a RTOS to run.
+#else
 
 #include "mbed.h"
 #include "greentea-client/test_env.h"
@@ -206,3 +209,4 @@ int main()
 }
 
 #endif // defined(SKIP_TIME_DRIFT_TESTS) || !DEVICE_USTICKER
+#endif // !defined(MBED_RTOS_CONF_PRESENT)
diff --git a/TESTS/mbed_hal/lp_ticker/main.cpp b/TESTS/mbed_hal/lp_ticker/main.cpp
index 8fc728e30c4..5438fe2343d 100644
--- a/TESTS/mbed_hal/lp_ticker/main.cpp
+++ b/TESTS/mbed_hal/lp_ticker/main.cpp
@@ -13,6 +13,11 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] Low power timer test cases require a RTOS to run.
+#else
+
 #include "mbed.h"
 #include "greentea-client/test_env.h"
 #include "unity.h"
@@ -207,3 +212,4 @@ int main()
 }
 
 #endif // !DEVICE_LPTICKER
+#endif // !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/mbed_hal/sleep/main.cpp b/TESTS/mbed_hal/sleep/main.cpp
index 4767e594356..c8f2b34d6d1 100644
--- a/TESTS/mbed_hal/sleep/main.cpp
+++ b/TESTS/mbed_hal/sleep/main.cpp
@@ -13,7 +13,6 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-
 #if !DEVICE_SLEEP
 #error [NOT_SUPPORTED] sleep not supported for this target
 #else
@@ -216,7 +215,9 @@ utest::v1::status_t greentea_test_setup(const size_t number_of_cases)
 {
     GREENTEA_SETUP(60, "default_auto");
     /* Suspend RTOS Kernel to enable sleep modes. */
+#if defined(MBED_CONF_RTOS_PRESENT)
     osKernelSuspend();
+#endif
 #if DEVICE_LPTICKER
     ticker_suspend(get_lp_ticker_data());
 #if DEVICE_LPTICKER && (LPTICKER_DELAY_TICKS > 0)
@@ -242,8 +243,9 @@ void greentea_test_teardown(const size_t passed, const size_t failed, const fail
 #endif
     ticker_resume(get_lp_ticker_data());
 #endif
+#if defined(MBED_CONF_RTOS_PRESENT)
     osKernelResume(0);
-
+#endif
     greentea_test_teardown_handler(passed, failed, failure);
 }
 
diff --git a/TESTS/mbed_hal/sleep_manager/main.cpp b/TESTS/mbed_hal/sleep_manager/main.cpp
index 97ecaff2909..1a0488fb0d7 100644
--- a/TESTS/mbed_hal/sleep_manager/main.cpp
+++ b/TESTS/mbed_hal/sleep_manager/main.cpp
@@ -88,7 +88,9 @@ void test_lock_eq_ushrt_max()
 utest::v1::status_t testcase_setup(const Case *const source, const size_t index_of_case)
 {
     // Suspend the RTOS kernel scheduler to prevent interference with duration of sleep.
+#if defined(MBED_RTOS_PRESENT)
     osKernelSuspend();
+#endif
 #if DEVICE_LPTICKER
     ticker_suspend(get_lp_ticker_data());
 #if (LPTICKER_DELAY_TICKS > 0)
@@ -115,7 +117,9 @@ utest::v1::status_t testcase_teardown(const Case *const source, const size_t pas
 #endif
     ticker_resume(get_lp_ticker_data());
 #endif
+#if defined(MBED_RTOS_PRESENT)
     osKernelResume(0);
+#endif
     return utest::v1::greentea_case_teardown_handler(source, passed, failed, failure);
 }
 
diff --git a/TESTS/mbed_hal/sleep_manager_racecondition/main.cpp b/TESTS/mbed_hal/sleep_manager_racecondition/main.cpp
index 6f5cd877cd7..2cce93cf571 100644
--- a/TESTS/mbed_hal/sleep_manager_racecondition/main.cpp
+++ b/TESTS/mbed_hal/sleep_manager_racecondition/main.cpp
@@ -26,7 +26,7 @@
 using namespace utest::v1;
 
 #define TEST_STACK_SIZE 256
-
+#if defined(MBED_CONF_RTOS_PRESENT)
 void sleep_manager_locking_thread_test()
 {
     for (uint32_t i = 0; i < 100; i++) {
@@ -55,6 +55,7 @@ void sleep_manager_multithread_test()
     bool deep_sleep_allowed = sleep_manager_can_deep_sleep_test_check();
     TEST_ASSERT_TRUE_MESSAGE(deep_sleep_allowed, "Deep sleep should be allowed");
 }
+#endif
 
 void sleep_manager_locking_irq_test()
 {
@@ -91,7 +92,9 @@ utest::v1::status_t greentea_test_setup(const size_t number_of_cases)
 }
 
 Case cases[] = {
+#if defined(MBED_CONF_RTOS_PRESENT)
     Case("deep sleep lock/unlock is thread safe", sleep_manager_multithread_test),
+#endif
     Case("deep sleep lock/unlock is IRQ safe", sleep_manager_irq_test),
 };
 
diff --git a/TESTS/mbed_hal/stack_size_unification/main.cpp b/TESTS/mbed_hal/stack_size_unification/main.cpp
index 377cd1eb750..3707727a4a2 100644
--- a/TESTS/mbed_hal/stack_size_unification/main.cpp
+++ b/TESTS/mbed_hal/stack_size_unification/main.cpp
@@ -15,6 +15,10 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] stack size unification test cases require a RTOS to run.
+#else
+
 #include "mbed.h"
 #include "greentea-client/test_env.h"
 #include "unity.h"
@@ -76,3 +80,4 @@ int main()
 }
 
 #endif // TARGET_RENESAS
+#endif // !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/mbed_hal/watchdog/main.cpp b/TESTS/mbed_hal/watchdog/main.cpp
index 7df1efb55e7..71aaa2da3a2 100644
--- a/TESTS/mbed_hal/watchdog/main.cpp
+++ b/TESTS/mbed_hal/watchdog/main.cpp
@@ -14,6 +14,10 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] Watchdog test cases require a RTOS to run.
+#else
+
 #if !DEVICE_WATCHDOG
 #error [NOT_SUPPORTED] Watchdog not supported for this target
 #else
@@ -285,3 +289,4 @@ int main()
 }
 
 #endif // !DEVICE_WATCHDOG
+#endif // !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/mbed_platform/crash_reporting/main.cpp b/TESTS/mbed_platform/crash_reporting/main.cpp
index 3f3260b5f2e..5253276d4fd 100644
--- a/TESTS/mbed_platform/crash_reporting/main.cpp
+++ b/TESTS/mbed_platform/crash_reporting/main.cpp
@@ -13,6 +13,9 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] crash_reporting test cases require a RTOS to run.
+#else
 #include "mbed.h"
 #include "mbed_error.h"
 #include "mbed_crash_data_offsets.h"
@@ -80,3 +83,4 @@ int main(void)
 }
 
 #endif // !MBED_CONF_PLATFORM_CRASH_CAPTURE_ENABLED
+#endif // !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/mbed_platform/error_handling/main.cpp b/TESTS/mbed_platform/error_handling/main.cpp
index f961edbf766..aecbad8e023 100644
--- a/TESTS/mbed_platform/error_handling/main.cpp
+++ b/TESTS/mbed_platform/error_handling/main.cpp
@@ -125,6 +125,7 @@ void test_error_context_capture()
     mbed_error_status_t status = mbed_get_last_error_info(&error_ctx);
     TEST_ASSERT(status == MBED_SUCCESS);
     TEST_ASSERT_EQUAL_UINT(error_value, error_ctx.error_value);
+#if defined(MBED_CONF_RTOS_PRESENT)
     TEST_ASSERT_EQUAL_UINT((uint32_t)osThreadGetId(), error_ctx.thread_id);
 
     //Capture thread info and compare
@@ -135,6 +136,7 @@ void test_error_context_capture()
 #if MBED_CONF_PLATFORM_ERROR_FILENAME_CAPTURE_ENABLED
     TEST_ASSERT_EQUAL_STRING(MBED_FILENAME, error_ctx.error_filename);
 #endif
+#endif
 }
 
 #if MBED_CONF_PLATFORM_ERROR_HIST_ENABLED
@@ -246,14 +248,17 @@ void test_error_logging_multithread()
 }
 #endif
 
+#if defined(MBED_CONF_RTOS_PRESENT)
 static Semaphore    callback_sem;
 void MyErrorHook(const mbed_error_ctx *error_ctx)
 {
     callback_sem.release();
 }
+#endif
 
 /** Test error hook
  */
+#if defined(MBED_CONF_RTOS_PRESENT)
 void test_error_hook()
 {
     if (MBED_SUCCESS != mbed_set_error_hook(MyErrorHook)) {
@@ -265,6 +270,7 @@ void test_error_hook()
 
     TEST_ASSERT(acquired);
 }
+#endif
 
 #if MBED_CONF_PLATFORM_ERROR_HIST_ENABLED && defined(MBED_TEST_SIM_BLOCKDEVICE)
 
@@ -352,13 +358,11 @@ utest::v1::status_t test_setup(const size_t number_of_cases)
 Case cases[] = {
     Case("Test error counting and reset", test_error_count_and_reset),
     Case("Test error encoding, value capture, first and last errors", test_error_capturing),
-#if MBED_CONF_RTOS_PRESENT
     Case("Test error context capture", test_error_context_capture),
-#endif //MBED_CONF_RTOS_PRESENT
-    Case("Test error hook", test_error_hook),
 #if MBED_CONF_PLATFORM_ERROR_HIST_ENABLED
     Case("Test error logging", test_error_logging),
 #if MBED_CONF_RTOS_PRESENT
+    Case("Test error hook", test_error_hook),
     Case("Test error handling multi-threaded", test_error_logging_multithread),
 #endif //MBED_CONF_RTOS_PRESENT
 #if MBED_CONF_PLATFORM_ERROR_HIST_ENABLED && defined(MBED_TEST_SIM_BLOCKDEVICE)
diff --git a/TESTS/mbedmicro-rtos-mbed/MemoryPool/main.cpp b/TESTS/mbedmicro-rtos-mbed/MemoryPool/main.cpp
index 60a5613992f..708373f78ba 100644
--- a/TESTS/mbedmicro-rtos-mbed/MemoryPool/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/MemoryPool/main.cpp
@@ -18,6 +18,10 @@
 #include "unity.h"
 #include "utest.h"
 
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] MemoryPool test cases require a RTOS to run.
+#else
+
 using namespace utest::v1;
 
 #define THREAD_STACK_SIZE 512
@@ -666,3 +670,4 @@ int main()
     Harness::run(specification);
 }
 
+#endif // !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/mbedmicro-rtos-mbed/basic/main.cpp b/TESTS/mbedmicro-rtos-mbed/basic/main.cpp
index 13c131feff4..f5b38da65a1 100644
--- a/TESTS/mbedmicro-rtos-mbed/basic/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/basic/main.cpp
@@ -14,13 +14,17 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] RTOS basic test cases require RTOS with multithread to run
+#else
+
 #include "mbed.h"
 #include "greentea-client/test_env.h"
 #include "utest/utest.h"
 #include "unity/unity.h"
 
-#if defined(SKIP_TIME_DRIFT_TESTS) || defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
-#error [NOT_SUPPORTED] test not supported
+#if defined(SKIP_TIME_DRIFT_TESTS) || !DEVICE_USTICKER
+#error [NOT_SUPPORTED] UsTicker need to be enabled for this test.
 #else
 
 using utest::v1::Case;
@@ -116,4 +120,5 @@ int main()
     utest::v1::Harness::run(specification);
 }
 
-#endif // defined(SKIP_TIME_DRIFT_TESTS) || defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
+#endif // defined(SKIP_TIME_DRIFT_TESTS) || !DEVICE_USTICKER
+#endif // defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/mbedmicro-rtos-mbed/condition_variable/main.cpp b/TESTS/mbedmicro-rtos-mbed/condition_variable/main.cpp
index 0f96013d2db..800267af3c7 100644
--- a/TESTS/mbedmicro-rtos-mbed/condition_variable/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/condition_variable/main.cpp
@@ -13,16 +13,20 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] Condition variable test cases require RTOS with multithread to run
+#else
+
+#if !DEVICE_USTICKER
+#error [NOT_SUPPORTED] UsTicker need to be enabled for this test.
+#else
+
 #include "mbed.h"
 #include "greentea-client/test_env.h"
 #include "unity.h"
 #include "utest.h"
 #include "rtos.h"
 
-#if defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
-#error [NOT_SUPPORTED] test not supported
-#else
-
 using namespace utest::v1;
 
 #define TEST_STACK_SIZE 512
@@ -185,4 +189,5 @@ int main()
     return !Harness::run(specification);
 }
 
-#endif // defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
+#endif // !DEVICE_USTICKER
+#endif // defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/mbedmicro-rtos-mbed/event_flags/main.cpp b/TESTS/mbedmicro-rtos-mbed/event_flags/main.cpp
index 2ee4d760e36..14052bea860 100644
--- a/TESTS/mbedmicro-rtos-mbed/event_flags/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/event_flags/main.cpp
@@ -14,6 +14,9 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] Event flags test cases require RTOS with multithread to run
+#else
 
 #include "mbed.h"
 #include "greentea-client/test_env.h"
@@ -22,8 +25,8 @@
 
 using utest::v1::Case;
 
-#if defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
-#error [NOT_SUPPORTED] test not supported
+#if !DEVICE_USTICKER
+#error [NOT_SUPPORTED] UsTicker need to be enabled for this test.
 #else
 
 #if defined(__CORTEX_M23) || defined(__CORTEX_M33)
@@ -371,4 +374,5 @@ int main()
     return !utest::v1::Harness::run(specification);
 }
 
-#endif // defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
+#endif // !DEVICE_USTICKER
+#endif // defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
\ No newline at end of file
diff --git a/TESTS/mbedmicro-rtos-mbed/heap_and_stack/main.cpp b/TESTS/mbedmicro-rtos-mbed/heap_and_stack/main.cpp
index 9fd9829fdf9..91c1129cdbf 100644
--- a/TESTS/mbedmicro-rtos-mbed/heap_and_stack/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/heap_and_stack/main.cpp
@@ -15,8 +15,8 @@
  * limitations under the License.
  */
 
-#if defined(TARGET_CORTEX_A) || !DEVICE_USTICKER
-#error [NOT_SUPPORTED] This function not supported for this target
+#if defined(TARGET_CORTEX_A) || !DEVICE_USTICKER || !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] test not supported.
 #else
 
 #include <stdio.h>
@@ -263,4 +263,4 @@ int main()
     return !utest::v1::Harness::run(specification);
 }
 
-#endif // defined(TARGET_CORTEX_A) || !DEVICE_USTICKER
+#endif // defined(TARGET_CORTEX_A) || !DEVICE_USTICKER || !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/mbedmicro-rtos-mbed/kernel_tick_count/main.cpp b/TESTS/mbedmicro-rtos-mbed/kernel_tick_count/main.cpp
index ceeca2a50fc..cd018d1b888 100644
--- a/TESTS/mbedmicro-rtos-mbed/kernel_tick_count/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/kernel_tick_count/main.cpp
@@ -13,6 +13,10 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] kernel tick count test cases require a RTOS to run.
+#else
+
 #include "greentea-client/test_env.h"
 #include "utest/utest.h"
 #include "unity/unity.h"
@@ -117,3 +121,4 @@ int main()
 {
     return !utest::v1::Harness::run(specification);
 }
+#endif // !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/mbedmicro-rtos-mbed/mail/main.cpp b/TESTS/mbedmicro-rtos-mbed/mail/main.cpp
index cfcec0fa780..b772a2641be 100644
--- a/TESTS/mbedmicro-rtos-mbed/mail/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/mail/main.cpp
@@ -13,16 +13,20 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] mail test cases require RTOS with multithread to run
+#else
+
+#if !DEVICE_USTICKER
+#error [NOT_SUPPORTED] UsTicker need to be enabled for this test.
+#else
+
 #include "mbed.h"
 #include "greentea-client/test_env.h"
 #include "unity.h"
 #include "utest.h"
 #include "rtos.h"
 
-#if defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
-#error [NOT_SUPPORTED] test not supported
-#else
-
 using namespace utest::v1;
 
 #if defined(__CORTEX_M23) || defined(__CORTEX_M33)
@@ -509,4 +513,5 @@ int main()
     return !Harness::run(specification);
 }
 
-#endif // defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
+#endif // !DEVICE_USTICKER
+#endif // defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/mbedmicro-rtos-mbed/malloc/main.cpp b/TESTS/mbedmicro-rtos-mbed/malloc/main.cpp
index b2c650f6781..ea5aa12e20b 100644
--- a/TESTS/mbedmicro-rtos-mbed/malloc/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/malloc/main.cpp
@@ -19,7 +19,7 @@
 #include "unity/unity.h"
 
 
-#if defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
+#if !DEVICE_USTICKER
 #error [NOT_SUPPORTED] test not supported
 #else
 
@@ -59,13 +59,13 @@ void task_using_malloc(void)
         free(data);
     }
 }
-
 /** Test for multithreaded heap allocations
 
     Given multiple threads are started in parallel
     When each of the threads allocate memory
     Then the memory allocation succeed and @a malloc return valid memory
  */
+#if defined(MBED_CONF_RTOS_PRESENT)
 void test_multithread_allocation(void)
 {
     // static stack for threads to reduce heap usage on devices with small RAM
@@ -102,6 +102,7 @@ void test_multithread_allocation(void)
     }
     TEST_ASSERT_FALSE(thread_alloc_failure);
 }
+#endif
 
 /** Test for multiple heap alloc and free calls */
 #define ALLOC_ARRAY_SIZE    100
@@ -200,7 +201,9 @@ void test_null_free(void)
 Case cases[] = {
     Case("Test 0 size allocation", test_zero_allocation),
     Case("Test NULL pointer free", test_null_free),
+#if defined(MBED_CONF_RTOS_PRESENT)
     Case("Test multithreaded allocations", test_multithread_allocation),
+#endif
     Case("Test large allocation", test_big_allocation),
     Case("Test multiple alloc and free calls", test_alloc_and_free)
 };
diff --git a/TESTS/mbedmicro-rtos-mbed/mutex/main.cpp b/TESTS/mbedmicro-rtos-mbed/mutex/main.cpp
index 6a6e4c2bf02..e48f99304a6 100644
--- a/TESTS/mbedmicro-rtos-mbed/mutex/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/mutex/main.cpp
@@ -13,16 +13,20 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] Mutex test cases require RTOS with multithread to run
+#else
+
+#if !DEVICE_USTICKER
+#error [NOT_SUPPORTED] UsTicker need to be enabled for this test.
+#else
+
 #include "mbed.h"
 #include "greentea-client/test_env.h"
 #include "unity.h"
 #include "utest.h"
 #include "rtos.h"
 
-#if defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
-#error [NOT_SUPPORTED] test not supported
-#else
-
 using namespace utest::v1;
 
 #if defined(__CORTEX_M23) || defined(__CORTEX_M33)
@@ -305,4 +309,5 @@ int main()
     return !Harness::run(specification);
 }
 
-#endif // defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
+#endif // !DEVICE_USTICKER
+#endif // defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/mbedmicro-rtos-mbed/queue/main.cpp b/TESTS/mbedmicro-rtos-mbed/queue/main.cpp
index 1293f9c3c17..74aeeec6b8b 100644
--- a/TESTS/mbedmicro-rtos-mbed/queue/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/queue/main.cpp
@@ -13,16 +13,20 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] Queue test cases require RTOS with multithread to run
+#else
+
+#if !DEVICE_USTICKER
+#error [NOT_SUPPORTED] UsTicker need to be enabled for this test.
+#else
+
 #include "mbed.h"
 #include "greentea-client/test_env.h"
 #include "unity.h"
 #include "utest.h"
 #include "rtos.h"
 
-#if defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
-#error [NOT_SUPPORTED] test not supported
-#else
-
 using namespace utest::v1;
 
 #define THREAD_STACK_SIZE 512
@@ -345,4 +349,5 @@ int main()
     return !Harness::run(specification);
 }
 
-#endif // defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
+#endif // !DEVICE_USTICKER
+#endif // defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
\ No newline at end of file
diff --git a/TESTS/mbedmicro-rtos-mbed/rtostimer/main.cpp b/TESTS/mbedmicro-rtos-mbed/rtostimer/main.cpp
index 024eb475184..d1c0d35b5fb 100644
--- a/TESTS/mbedmicro-rtos-mbed/rtostimer/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/rtostimer/main.cpp
@@ -13,6 +13,11 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] RTOS timer test cases require RTOS to run
+#else
+
 #include "mbed.h"
 #include "greentea-client/test_env.h"
 #include "unity.h"
@@ -360,3 +365,4 @@ int main()
 
 #endif // !DEVICE_USTICKER
 #endif // RESTART_DELAY_MS >= DELAY_MS
+#endif
diff --git a/TESTS/mbedmicro-rtos-mbed/semaphore/main.cpp b/TESTS/mbedmicro-rtos-mbed/semaphore/main.cpp
index 49a806c6e04..8d5646ef220 100644
--- a/TESTS/mbedmicro-rtos-mbed/semaphore/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/semaphore/main.cpp
@@ -13,6 +13,14 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] Semaphore test cases require RTOS with multithread to run
+#else
+
+#if !DEVICE_USTICKER
+#error [NOT_SUPPORTED] UsTicker need to be enabled for this test.
+#else
+
 #include "mbed.h"
 #include "greentea-client/test_env.h"
 #include "unity.h"
@@ -21,10 +29,6 @@
 
 using namespace utest::v1;
 
-#if defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
-#error [NOT_SUPPORTED] test not supported
-#else
-
 #define THREAD_DELAY     30
 #define SEMAPHORE_SLOTS  2
 #define SEM_CHANGES      100
@@ -246,4 +250,5 @@ int main()
     return !Harness::run(specification);
 }
 
-#endif // defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
+#endif // !DEVICE_USTICKER
+#endif // defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/mbedmicro-rtos-mbed/signals/main.cpp b/TESTS/mbedmicro-rtos-mbed/signals/main.cpp
index 6fd39b23d68..1fae2dacf75 100644
--- a/TESTS/mbedmicro-rtos-mbed/signals/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/signals/main.cpp
@@ -13,6 +13,10 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] Signals test cases require RTOS with multithread to run
+#else
+
 #include "mbed.h"
 #include "greentea-client/test_env.h"
 #include "utest/utest.h"
@@ -20,8 +24,8 @@
 
 using utest::v1::Case;
 
-#if defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
-#error [NOT_SUPPORTED] test not supported
+#if !DEVICE_USTICKER
+#error [NOT_SUPPORTED] UsTicker need to be enabled for this test.
 #else
 
 #define TEST_STACK_SIZE   512
@@ -393,4 +397,5 @@ int main()
     return !utest::v1::Harness::run(specification);
 }
 
-#endif // defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
+#endif // !DEVICE_USTICKER
+#endif // defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/mbedmicro-rtos-mbed/systimer/main.cpp b/TESTS/mbedmicro-rtos-mbed/systimer/main.cpp
index 13b60ac99d8..9cd168b0a43 100644
--- a/TESTS/mbedmicro-rtos-mbed/systimer/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/systimer/main.cpp
@@ -20,9 +20,6 @@
 #include "utest.h"
 #include "ticker_api.h"
 
-extern "C" {
-#include "rtx_lib.h"
-}
 #include "platform/source/SysTimer.h"
 
 #define TEST_TICKS 42
diff --git a/TESTS/mbedmicro-rtos-mbed/threads/LockGuard.h b/TESTS/mbedmicro-rtos-mbed/threads/LockGuard.h
index fd5fd657197..919d2e105a2 100644
--- a/TESTS/mbedmicro-rtos-mbed/threads/LockGuard.h
+++ b/TESTS/mbedmicro-rtos-mbed/threads/LockGuard.h
@@ -49,5 +49,4 @@ class LockGuard {
     LockGuard &operator=(const LockGuard &);
     rtos::Mutex &_mutex;
 };
-
 #endif /* MBEDMICRO_RTOS_MBED_THREADS_LOCK_GUARD */
diff --git a/TESTS/mbedmicro-rtos-mbed/threads/SynchronizedIntegral.h b/TESTS/mbedmicro-rtos-mbed/threads/SynchronizedIntegral.h
index afb3ce0ef42..988b4d44f6a 100644
--- a/TESTS/mbedmicro-rtos-mbed/threads/SynchronizedIntegral.h
+++ b/TESTS/mbedmicro-rtos-mbed/threads/SynchronizedIntegral.h
@@ -75,5 +75,4 @@ class SynchronizedIntegral {
     mutable rtos::Mutex _mutex;
     T _value;
 };
-
 #endif /* MBEDMICRO_RTOS_MBED_THREADS_SYNCHRONIZED_INTEGRAL */
diff --git a/TESTS/mbedmicro-rtos-mbed/threads/main.cpp b/TESTS/mbedmicro-rtos-mbed/threads/main.cpp
index c66e9fb0308..30f0855a325 100644
--- a/TESTS/mbedmicro-rtos-mbed/threads/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/threads/main.cpp
@@ -13,6 +13,14 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] Threads test cases require RTOS with multithread to run
+#else
+
+#if !DEVICE_USTICKER
+#error [NOT_SUPPORTED] UsTicker need to be enabled for this test.
+#else
+
 #include "mbed.h"
 #include "greentea-client/test_env.h"
 #include "unity.h"
@@ -21,10 +29,6 @@
 #include "SynchronizedIntegral.h"
 #include "LockGuard.h"
 
-#if defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
-#error [NOT_SUPPORTED] test not supported
-#else
-
 #define THREAD_STACK_SIZE 512
 #if defined(__CORTEX_A9) || defined(__CORTEX_M23) || defined(__CORTEX_M33) || defined(TARGET_ARM_FM) ||  defined(TARGET_CY8CKIT_062_WIFI_BT_PSA)
 #define PARALLEL_THREAD_STACK_SIZE 512
@@ -847,4 +851,5 @@ int main()
     return !Harness::run(specification);
 }
 
-#endif // defined(MBED_RTOS_SINGLE_THREAD) || !DEVICE_USTICKER
+#endif // !DEVICE_USTICKER
+#endif // defined(MBED_RTOS_SINGLE_THREAD) || !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/usb_device/basic/USBEndpointTester.cpp b/TESTS/usb_device/basic/USBEndpointTester.cpp
index 0b95dff2121..805039dc550 100644
--- a/TESTS/usb_device/basic/USBEndpointTester.cpp
+++ b/TESTS/usb_device/basic/USBEndpointTester.cpp
@@ -15,6 +15,8 @@
  * limitations under the License.
  */
 
+#if defined(MBED_CONF_RTOS_PRESENT)
+
 #include "stdint.h"
 #include "stdlib.h"
 #include "USBEndpointTester.h"
@@ -169,7 +171,6 @@ USBEndpointTester::USBEndpointTester(USBPhy *phy, uint16_t vendor_id, uint16_t p
         MBED_ASSERT(_endpoint_buffs[i] != NULL);
     }
     MBED_ASSERT(resolver.valid());
-
     queue = mbed::mbed_highprio_event_queue();
     configuration_desc(0);
     ctrl_buf = new uint8_t[CTRL_BUF_SIZE];
@@ -861,3 +862,4 @@ void USBEndpointTester::start_ep_in_abort_test()
     write_start(_endpoints[EP_BULK_IN], _endpoint_buffs[EP_BULK_IN], (*_endpoint_configs)[EP_BULK_IN].max_packet);
     write_start(_endpoints[EP_INT_IN], _endpoint_buffs[EP_INT_IN], (*_endpoint_configs)[EP_INT_IN].max_packet);
 }
+#endif
diff --git a/TESTS/usb_device/basic/USBTester.cpp b/TESTS/usb_device/basic/USBTester.cpp
index 6907a859c1f..584d52b1f07 100644
--- a/TESTS/usb_device/basic/USBTester.cpp
+++ b/TESTS/usb_device/basic/USBTester.cpp
@@ -15,6 +15,8 @@
  * limitations under the License.
  */
 
+#if defined(MBED_CONF_RTOS_PRESENT)
+
 #include "stdint.h"
 #include "USBTester.h"
 #include "mbed_shared_queues.h"
@@ -57,7 +59,6 @@ USBTester::USBTester(USBPhy *phy, uint16_t vendor_id, uint16_t product_id, uint1
     int_out = resolver.endpoint_out(USB_EP_TYPE_INT, 64);
     MBED_ASSERT(resolver.valid());
     queue = mbed::mbed_highprio_event_queue();
-
     configuration_desc(0);
     ctrl_buf = new uint8_t[CTRL_BUF_SIZE];
     init();
@@ -703,3 +704,4 @@ void USBTester::epbulk_out_callback()
     read_finish(bulk_out);
     read_start(bulk_out, bulk_buf, sizeof(bulk_buf));
 }
+#endif
diff --git a/TESTS/usb_device/basic/main.cpp b/TESTS/usb_device/basic/main.cpp
index 09e4e1f7196..50f4e38ab9d 100644
--- a/TESTS/usb_device/basic/main.cpp
+++ b/TESTS/usb_device/basic/main.cpp
@@ -14,6 +14,11 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] USB stack and test cases require RTOS to run.
+#else
+
 #include <stdio.h>
 #include <string.h>
 #include "mbed.h"
@@ -660,3 +665,4 @@ int main()
 }
 
 #endif // !defined(DEVICE_USBDEVICE) || !DEVICE_USBDEVICE
+#endif // !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/usb_device/hid/main.cpp b/TESTS/usb_device/hid/main.cpp
index a9c5db76b73..9e8d349dcca 100644
--- a/TESTS/usb_device/hid/main.cpp
+++ b/TESTS/usb_device/hid/main.cpp
@@ -14,6 +14,10 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] USB stack and test cases require RTOS to run.
+#else
+
 #if !defined(DEVICE_USBDEVICE) || !DEVICE_USBDEVICE
 #error [NOT_SUPPORTED] USB Device not supported for this target
 #else
@@ -385,3 +389,4 @@ int main()
 }
 
 #endif // !defined(DEVICE_USBDEVICE) || !DEVICE_USBDEVICE
+#endif // !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/usb_device/msd/main.cpp b/TESTS/usb_device/msd/main.cpp
index 3942573ef34..5624fcd298d 100644
--- a/TESTS/usb_device/msd/main.cpp
+++ b/TESTS/usb_device/msd/main.cpp
@@ -14,6 +14,11 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] USB stack and test cases require RTOS to run.
+#else
+
 #include <stdio.h>
 #include <string.h>
 #include <stdlib.h>     /* srand, rand */
@@ -482,3 +487,4 @@ int main()
 }
 
 #endif // !defined(DEVICE_USBDEVICE) || !DEVICE_USBDEVICE
+#endif // !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/usb_device/serial/main.cpp b/TESTS/usb_device/serial/main.cpp
index 11dc3acd8c8..0068d26d3ae 100644
--- a/TESTS/usb_device/serial/main.cpp
+++ b/TESTS/usb_device/serial/main.cpp
@@ -14,6 +14,10 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] USB stack and test cases require RTOS to run.
+#else
+
 #if !defined(DEVICE_USBDEVICE) || !DEVICE_USBDEVICE
 #error [NOT_SUPPORTED] USB Device not supported for this target
 #else
@@ -848,3 +852,4 @@ int main()
 }
 
 #endif // !defined(DEVICE_USBDEVICE) || !DEVICE_USBDEVICE
+#endif // !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/features/frameworks/greentea-client/source/greentea_metrics.cpp b/features/frameworks/greentea-client/source/greentea_metrics.cpp
index 6b2be0da508..e1de35c0ad1 100644
--- a/features/frameworks/greentea-client/source/greentea_metrics.cpp
+++ b/features/frameworks/greentea-client/source/greentea_metrics.cpp
@@ -20,19 +20,7 @@
 #include "platform/mbed_stats.h"
 #include <stdint.h>
 
-#define THREAD_BUF_COUNT    16
-
-typedef struct {
-    uint32_t entry;
-    uint32_t stack_size;
-    uint32_t max_stack;
-} thread_info_t;
-
-#if defined(MBED_STACK_STATS_ENABLED) && MBED_STACK_STATS_ENABLED
-
-#if !defined(MBED_CONF_RTOS_PRESENT) || !(MBED_CONF_RTOS_PRESENT)
-#error "RTOS required for Stack stats"
-#endif
+#if defined(MBED_STACK_STATS_ENABLED) && MBED_STACK_STATS_ENABLED && defined(MBED_CONF_RTOS_PRESENT)
 
 #include "rtos/Mutex.h"
 #include "rtos/Thread.h"
@@ -44,6 +32,14 @@ typedef struct {
 using namespace mbed;
 using namespace rtos;
 
+#define THREAD_BUF_COUNT    16
+
+typedef struct {
+    uint32_t entry;
+    uint32_t stack_size;
+    uint32_t max_stack;
+} thread_info_t;
+
 // Mutex to protect "buf"
 static SingletonPtr<Mutex> mutex;
 static char buf[128];
@@ -57,7 +53,7 @@ static void send_CPU_info(void);
 #if defined(MBED_HEAP_STATS_ENABLED ) && MBED_HEAP_STATS_ENABLED
 static void send_heap_info(void);
 #endif
-#if defined(MBED_STACK_STATS_ENABLED) && MBED_STACK_STATS_ENABLED
+#if defined(MBED_STACK_STATS_ENABLED) && MBED_STACK_STATS_ENABLED && defined(MBED_CONF_RTOS_PRESENT)
 static void send_stack_info(void);
 static void on_thread_terminate(osThreadId_t id);
 static void enqeue_thread_info(osThreadId_t id);
@@ -70,7 +66,7 @@ static uint32_t print_dec(char *buf, uint32_t value);
 
 void greentea_metrics_setup()
 {
-#if defined(MBED_STACK_STATS_ENABLED) && MBED_STACK_STATS_ENABLED
+#if defined(MBED_STACK_STATS_ENABLED) && MBED_STACK_STATS_ENABLED && defined(MBED_CONF_RTOS_PRESENT)
     Kernel::attach_thread_terminate_hook(on_thread_terminate);
 #endif
 }
@@ -80,7 +76,7 @@ void greentea_metrics_report()
 #if defined(MBED_HEAP_STATS_ENABLED ) && MBED_HEAP_STATS_ENABLED
     send_heap_info();
 #endif
-#if defined(MBED_STACK_STATS_ENABLED) && MBED_STACK_STATS_ENABLED
+#if defined(MBED_STACK_STATS_ENABLED) && MBED_STACK_STATS_ENABLED && defined(MBED_CONF_RTOS_PRESENT)
     send_stack_info();
     Kernel::attach_thread_terminate_hook(NULL);
 #endif
@@ -112,7 +108,7 @@ static void send_heap_info()
 }
 #endif
 
-#if defined(MBED_STACK_STATS_ENABLED) && MBED_STACK_STATS_ENABLED
+#if defined(MBED_STACK_STATS_ENABLED) && MBED_STACK_STATS_ENABLED && defined(MBED_CONF_RTOS_PRESENT)
 MBED_UNUSED static void send_stack_info()
 {
     mutex->lock();
diff --git a/features/frameworks/greentea-client/source/greentea_test_env.cpp b/features/frameworks/greentea-client/source/greentea_test_env.cpp
index 42fadc2f6ca..cb6a8a32679 100644
--- a/features/frameworks/greentea-client/source/greentea_test_env.cpp
+++ b/features/frameworks/greentea-client/source/greentea_test_env.cpp
@@ -787,4 +787,4 @@ static int HandleKV(char *out_key,
     return 0;
 }
 
-#endif
\ No newline at end of file
+#endif