diff --git a/tcl/board/ti_tmdx570ls20susb.cfg b/tcl/board/ti_tmdx570ls20susb.cfg
index 2601d21df..87cab2690 100644
--- a/tcl/board/ti_tmdx570ls20susb.cfg
+++ b/tcl/board/ti_tmdx570ls20susb.cfg
@@ -1,9 +1,16 @@
-adapter_khz 1500
+# TMS570 Microcontroller USB Kit
+# http://www.ti.com/tool/TMDX570LS20SUSB
 
+# Board uses a FT2232H to emulate an XDS100v2 JTAG debugger
+# TODO: board also supports an SCI UART on the 2232's B Bus
 source [find interface/ftdi/xds100v2.cfg]
 
-set DAP_TAPID 0x0b7b302f
-set JRC_TAPID $DAP_TAPID
-source [find target/ti_tms570.cfg]
+# Processor is TMS570LS20216
+source [find target/ti_tms570ls20xxx.cfg]
 
 reset_config trst_only
+
+# xds100v2 config says add this to the end
+init
+ftdi_set_signal PWR_RST 1
+jtag arp_init
diff --git a/tcl/target/ti_tms570.cfg b/tcl/target/ti_tms570.cfg
index 014c76c11..b8f9287f4 100644
--- a/tcl/target/ti_tms570.cfg
+++ b/tcl/target/ti_tms570.cfg
@@ -16,19 +16,17 @@ if { [info exists ENDIAN] } {
 source [find target/icepick.cfg]
 
 # Main DAP
+# DAP_TAPID should be set before source-ing this file
 if { [info exists DAP_TAPID] } {
 	set _DAP_TAPID $DAP_TAPID
-} else {
-	set _DAP_TAPID 0x0B8A002F
 }
 jtag newtap $_CHIPNAME dap -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_DAP_TAPID -disable
 jtag configure $_CHIPNAME.dap -event tap-enable "icepick_c_tapenable $_CHIPNAME.jrc 0"
 
 # ICEpick-C (JTAG route controller)
+# JRC_TAPID should be set before source-ing this file
 if { [info exists JRC_TAPID] } {
 	set _JRC_TAPID $JRC_TAPID
-} else {
-	set _JRC_TAPID 0x0B8A002F
 }
 jtag newtap $_CHIPNAME jrc -irlen 6 -ircapture 0x1 -irmask 0x3f \
 	-expected-id $_JRC_TAPID -ignore-version
diff --git a/tcl/target/ti_tms570ls20xxx.cfg b/tcl/target/ti_tms570ls20xxx.cfg
new file mode 100644
index 000000000..ef45b7a5c
--- /dev/null
+++ b/tcl/target/ti_tms570ls20xxx.cfg
@@ -0,0 +1,6 @@
+# TMS570LS20216, TMS570LS20206, TMS570LS10216
+# TMS570LS10206, TMS570LS10116, TMS570LS10106
+set DAP_TAPID 0x0B7B302F
+set JRC_TAPID 0x0B7B302F
+
+source [find target/ti_tms570.cfg]
diff --git a/tcl/target/ti_tms570ls3137.cfg b/tcl/target/ti_tms570ls3137.cfg
new file mode 100644
index 000000000..f29180356
--- /dev/null
+++ b/tcl/target/ti_tms570ls3137.cfg
@@ -0,0 +1,5 @@
+# TMS570LS3137
+set DAP_TAPID 0x0B8A002F
+set JRC_TAPID 0x0B8A002F
+
+source [find target/ti_tms570.cfg]