diff --git a/doc/openocd.texi b/doc/openocd.texi
index ea23bf722..bf7402d43 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -5978,13 +5978,21 @@ is an ARM920T (2x16kByte cache) or ARM922T (2x8kByte cache).
 @deffn Command {arm920t cp15} regnum [value]
 Display cp15 register @var{regnum};
 else if a @var{value} is provided, that value is written to that register.
+This uses "physical access" and the register number is as
+shown in bits 38..33 of table 9-9 in the ARM920T TRM.
+(Not all registers can be written.)
 @end deffn
 
 @deffn Command {arm920t cp15i} opcode [value [address]]
-Interpreted access using cp15 @var{opcode}.
+@emph{DEPRECATED -- avoid using this.
+Use the @command{arm mrc} or @command{arm mcr} commands instead.}
+
+Interpreted access using ARM instruction @var{opcode}, which should
+be the value of either an MRC or MCR instruction
+(as shown tables 9-11, 9-12, and 9-13 in the ARM920T TRM).
 If no @var{value} is provided, the result is displayed.
 Else if that value is written using the specified @var{address},
-or using zero if no other address is not provided.
+or using zero if no other address is provided.
 @end deffn
 
 @deffn Command {arm920t read_cache} filename
diff --git a/src/target/arm920t.c b/src/target/arm920t.c
index c5b7c88dc..29eb62d33 100644
--- a/src/target/arm920t.c
+++ b/src/target/arm920t.c
@@ -1384,35 +1384,39 @@ static int arm920t_mcr(struct target *target, int cpnum,
 static const struct command_registration arm920t_exec_command_handlers[] = {
 	{
 		.name = "cp15",
-		.handler = &arm920t_handle_cp15_command,
+		.handler = arm920t_handle_cp15_command,
 		.mode = COMMAND_EXEC,
 		.help = "display/modify cp15 register",
-		.usage = "<num> [value]",
+		.usage = "regnum [value]",
 	},
 	{
 		.name = "cp15i",
-		.handler = &arm920t_handle_cp15i_command,
+		.handler = arm920t_handle_cp15i_command,
 		.mode = COMMAND_EXEC,
-		.help = "display/modify cp15 (interpreted access)",
-		.usage = "<opcode> [value] [address]",
+		/* prefer using less error-prone "arm mcr" or "arm mrc" */
+		.help = "display/modify cp15 register using ARM opcode"
+			" (DEPRECATED)",
+		.usage = "instruction [value [address]]",
 	},
 	{
 		.name = "cache_info",
-		.handler = &arm920t_handle_cache_info_command,
+		.handler = arm920t_handle_cache_info_command,
 		.mode = COMMAND_EXEC,
 		.help = "display information about target caches",
 	},
 	{
 		.name = "read_cache",
-		.handler = &arm920t_handle_read_cache_command,
+		.handler = arm920t_handle_read_cache_command,
 		.mode = COMMAND_EXEC,
-		.help = "display I/D cache content",
+		.help = "dump I/D cache content to file",
+		.usage = "filename",
 	},
 	{
 		.name = "read_mmu",
-		.handler = &arm920t_handle_read_mmu_command,
+		.handler = arm920t_handle_read_mmu_command,
 		.mode = COMMAND_EXEC,
-		.help = "display I/D mmu content",
+		.help = "dump I/D mmu content to file",
+		.usage = "filename",
 	},
 	COMMAND_REGISTRATION_DONE
 };