diff --git a/doc/openocd.texi b/doc/openocd.texi
index 25554f87a..4665092d1 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -537,15 +537,25 @@ debuggers to ARM Cortex based targets @url{http://www.keil.com/support/man/docs/
 
 @item @b{TI XDS110 Debug Probe}
 @* The XDS110 is included as the embedded debug probe on many Texas Instruments
-LaunchPad evaluation boards.
-@* The XDS110 is also available as a stand-alone USB debug probe. The XDS110
-stand-alone probe has the additional ability to supply voltage to the target
-board via its AUX FUNCTIONS port. Use the
-@command{xds110_supply_voltage <millivolts>} command to set the voltage. 0 turns
-off the supply. Otherwise, the supply can be set to any value in the range 1800
-to 3600 millivolts.
-@* Link: @url{http://processors.wiki.ti.com/index.php/XDS110}
-@* Link: @url{http://processors.wiki.ti.com/index.php/XDS_Emulation_Software_Package#XDS110_Support_Utilities}
+LaunchPad evaluation boards. The XDS110 is also available as a stand-alone USB
+debug probe with the added capability to supply power to the target board. The
+following commands are supported by the XDS110 driver:
+@*@deffn {Config Command} {xds110 serial} serial_string
+Specifies the serial number of which XDS110 probe to use. Otherwise, the first
+XDS110 found will be used.
+@end deffn
+@*@deffn {Config Command} {xds110 supply} voltage_in_millivolts
+Available only on the XDS110 stand-alone probe. Sets the voltage level of the
+XDS110 power supply. A value of 0 leaves the supply off. Otherwise, the supply
+can be set to any value in the range 1800 to 3600 millivolts.
+@end deffn
+@*@deffn {Command} {xds110 info}
+Displays information about the connected XDS110 debug probe (e.g. firmware
+version).
+@end deffn
+@* Further information can be found at the following sites:
+@* Link: @url{https://software-dl.ti.com/ccs/esd/documents/xdsdebugprobes/emu_xds110.html}
+@* Link: @url{https://software-dl.ti.com/ccs/esd/documents/xdsdebugprobes/emu_xds_software_package_download.html#xds110-support-utilities}
 @end itemize
 
 @section IBM PC Parallel Printer Port Based
diff --git a/src/jtag/drivers/xds110.c b/src/jtag/drivers/xds110.c
index 085d85f4c..9ca200e79 100644
--- a/src/jtag/drivers/xds110.c
+++ b/src/jtag/drivers/xds110.c
@@ -2028,11 +2028,8 @@ COMMAND_HANDLER(xds110_handle_serial_command)
 			xds110.serial[i] = (char)serial[i];
 
 		xds110.serial[len] = 0;
-	} else {
-		LOG_ERROR("XDS110: expected exactly one argument to xds110_serial "
-			"<serial-number>");
-		return ERROR_FAIL;
-	}
+	} else
+		return ERROR_COMMAND_SYNTAX_ERROR;
 
 	return ERROR_OK;
 }
@@ -2053,11 +2050,8 @@ COMMAND_HANDLER(xds110_handle_supply_voltage_command)
 			return ERROR_FAIL;
 		}
 		xds110.voltage = voltage;
-	} else {
-		LOG_ERROR("XDS110: expected one argument to xds110_supply_voltage "
-			"<millivolts>");
-		return ERROR_FAIL;
-	}
+	} else
+		return ERROR_COMMAND_SYNTAX_ERROR;
 
 	return ERROR_OK;
 }
@@ -2067,8 +2061,22 @@ static const struct command_registration xds110_subcommand_handlers[] = {
 		.name = "info",
 		.handler = &xds110_handle_info_command,
 		.mode = COMMAND_EXEC,
-		.usage = "",
 		.help = "show XDS110 info",
+		.usage = "",
+	},
+	{
+		.name = "serial",
+		.handler = &xds110_handle_serial_command,
+		.mode = COMMAND_CONFIG,
+		.help = "set the XDS110 probe serial number",
+		.usage = "serial_string",
+	},
+	{
+		.name = "supply",
+		.handler = &xds110_handle_supply_voltage_command,
+		.mode = COMMAND_CONFIG,
+		.help = "set the XDS110 probe supply voltage",
+		.usage = "voltage_in_millivolts",
 	},
 	COMMAND_REGISTRATION_DONE
 };
@@ -2078,23 +2086,9 @@ static const struct command_registration xds110_command_handlers[] = {
 		.name = "xds110",
 		.mode = COMMAND_ANY,
 		.help = "perform XDS110 management",
-		.usage = "<cmd>",
+		.usage = "",
 		.chain = xds110_subcommand_handlers,
 	},
-	{
-		.name = "xds110_serial",
-		.handler = &xds110_handle_serial_command,
-		.mode = COMMAND_CONFIG,
-		.help = "set the XDS110 probe serial number",
-		.usage = "serial_string",
-	},
-	{
-		.name = "xds110_supply_voltage",
-		.handler = &xds110_handle_supply_voltage_command,
-		.mode = COMMAND_CONFIG,
-		.help = "set the XDS110 probe supply voltage",
-		.usage = "supply_voltage (millivolts)",
-	},
 	COMMAND_REGISTRATION_DONE
 };
 
diff --git a/src/jtag/startup.tcl b/src/jtag/startup.tcl
index 8fc3ad5ef..f8c4ca0bf 100644
--- a/src/jtag/startup.tcl
+++ b/src/jtag/startup.tcl
@@ -216,4 +216,14 @@ proc ftdi_location args {
 	eval adapter usb location $args
 }
 
+proc xds110_serial args {
+	echo "DEPRECATED! use 'xds110 serial' not 'xds110_serial'"
+	eval xds110 serial $args
+}
+
+proc xds110_supply_voltage args {
+	echo "DEPRECATED! use 'xds110 supply' not 'xds110_supply_voltage'"
+	eval xds110 supply $args
+}
+
 # END MIGRATION AIDS