I am developing on a Freedom KL46Z board and am wanting to be able to transition over to a custom PCB. I would like to keep the simplicity of the Mbed tool chain, but I am not sure how to go about programing the microcontroller once it is soldered onto my PCB. The PCB I am designing is very space constrained but I figure I can run a few traces for a programing/debug port. Is there a way I can reuse the OpenSDA hardware from the development board to program the MCU on my custom PCB? Is there some other tool that would do this (preferably under $100)? Am I even approaching this with the correct mindset?
Note: For simplicity I am using the same MCU from the development board in my custom PCB.