diff --git a/doc/openocd.texi b/doc/openocd.texi
index f557a55fe..cbe5e86da 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -2497,7 +2497,7 @@ This command is only available if your libusb1 is at least version 1.0.16.
 Specifies the @var{serial_string} of the adapter to use.
 If this command is not specified, serial strings are not checked.
 Only the following adapter drivers use the serial string from this command:
-arm-jtag-ew, cmsis_dap, esp_usb_jtag, ft232r, ftdi, hla (ti-icdi), jlink, kitprog, opendus,
+arm-jtag-ew, cmsis_dap, esp_usb_jtag, ft232r, ftdi, hla (stlink, ti-icdi), jlink, kitprog, opendus,
 openjtag, osbdm, presto, rlink, st-link, usb_blaster (ublast2), usbprog, vsllink, xds110.
 @end deffn
 
@@ -3205,16 +3205,19 @@ that OpenOCD would normally use to access the target.
 
 Currently supported adapters include the STMicroelectronics ST-LINK, TI ICDI
 and Nuvoton Nu-Link.
+
 ST-LINK firmware version >= V2.J21.S4 recommended due to issues with earlier
 versions of firmware where serial number is reset after first use.  Suggest
 using ST firmware update utility to upgrade ST-LINK firmware even if current
 version reported is V2.J21.S4.
+The ST-LINK firmware update utility is available for download from
+@url{https://www.st.com/en/development-tools/stsw-link007.html, ST website}.
 
 @deffn {Config Command} {hla device_desc} description
 Currently Not Supported.
 @end deffn
 
-@deffn {Config Command} {hla layout} (@option{icdi}|@option{nulink})
+@deffn {Config Command} {hla layout} (@option{stlink}|@option{icdi}|@option{nulink})
 Specifies the adapter layout to use.
 @end deffn
 
@@ -3222,6 +3225,15 @@ Specifies the adapter layout to use.
 Pairs of vendor IDs and product IDs of the device.
 @end deffn
 
+@deffn {Config Command} {hla stlink_backend} (usb | tcp [port])
+@emph{ST-Link only:} Choose between 'exclusive' USB communication (the default backend) or
+'shared' mode using ST-Link TCP server (the default port is 7184).
+
+@emph{Note:} ST-Link TCP server is a binary application provided by ST
+available from @url{https://www.st.com/en/development-tools/st-link-server.html,
+ST-LINK server software module}.
+@end deffn
+
 @deffn {Command} {hla command} command
 Execute a custom adapter-specific command. The @var{command} string is
 passed as is to the underlying adapter layout handler.
@@ -3236,6 +3248,11 @@ directly access the arm ADIv5 DAP.
 
 The older API that requires HLA transport is deprecated and will be dropped
 from OpenOCD. In mean time it's still available by using @file{interface/stlink-hla.cfg}.
+The HLA interface file can be put as first command line argument to
+force using is in place of the default DAP API.
+@example
+openocd -f interface/stlink-hla.cfg -f board/st_nucleo_f4.cfg
+@end example
 
 The new API provide access to multiple AP on the same DAP, but the
 maximum number of the AP port is limited by the specific firmware version
diff --git a/src/jtag/drivers/stlink_usb.c b/src/jtag/drivers/stlink_usb.c
index e018f71cd..5ee1f8526 100644
--- a/src/jtag/drivers/stlink_usb.c
+++ b/src/jtag/drivers/stlink_usb.c
@@ -5143,7 +5143,12 @@ static int stlink_dap_init(void)
 
 	if ((mode != STLINK_MODE_DEBUG_SWIM) &&
 		!(stlink_dap_handle->version.flags & STLINK_F_HAS_DAP_REG)) {
-		LOG_ERROR("ST-Link version does not support DAP direct transport");
+		LOG_ERROR("The firmware in the ST-Link adapter only supports deprecated HLA.");
+		LOG_ERROR("Please consider updating the ST-Link firmware with a version");
+		LOG_ERROR("newer that V2J24 (2015), available for downloading on ST website:");
+		LOG_ERROR("  https://www.st.com/en/development-tools/stsw-link007.html");
+		LOG_ERROR("In mean time, you can re-run OpenOCD for ST-Link HLA as:");
+		LOG_ERROR("  openocd -f interface/stlink-hla.cfg ...");
 		return ERROR_FAIL;
 	}
 	return ERROR_OK;
diff --git a/tcl/interface/stlink.cfg b/tcl/interface/stlink.cfg
index 962d192ec..48c565661 100644
--- a/tcl/interface/stlink.cfg
+++ b/tcl/interface/stlink.cfg
@@ -10,6 +10,12 @@
 # SWIM transport is natively supported
 #
 
+if { [adapter name] == "hla" } {
+	# Deprecated HLA adapter driver already selected.
+	# Quit silently, as the ST-LINK driver already complains.
+	return
+}
+
 adapter driver st-link
 st-link vid_pid 0x0483 0x3744 0x0483 0x3748 0x0483 0x374b 0x0483 0x374d 0x0483 0x374e 0x0483 0x374f 0x0483 0x3752 0x0483 0x3753 0x0483 0x3754 0x0483 0x3755 0x0483 0x3757