diff --git a/doc/openocd.texi b/doc/openocd.texi
index c32f28ea8..34d0884c9 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -3940,6 +3940,10 @@ base @var{address} to be used when an MMU is active.
 The value should normally correspond to a static mapping for the
 @code{-work-area-phys} address, set up by the current operating system.
 
+@item @code{-rtos} @var{rtos_type} -- enable rtos support for target,
+@var{rtos_type} can be one of @option{auto}|@option{eCos}|@option{threadx}|
+@option{freertos}|@option{linux}.
+
 @end itemize
 @end deffn