diff --git a/src/Makefile b/src/Makefile
index 06813c5..de05365 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -48,6 +48,7 @@ SRC =			\
 	nxpke04.c	\
 	platform.c	\
 	remote.c	\
+	rp.c		\
 	sam3x.c		\
 	sam4l.c		\
 	samd.c		\
diff --git a/src/target/adiv5.c b/src/target/adiv5.c
index fe3f457..7e11de7 100644
--- a/src/target/adiv5.c
+++ b/src/target/adiv5.c
@@ -3,7 +3,7 @@
  *
  * Copyright (C) 2015  Black Sphere Technologies Ltd.
  * Written by Gareth McMullin <gareth@blacksphere.co.nz>
- * Copyright (C) 2018 - 2020 Uwe Bonnes
+ * Copyright (C) 2018 - 2021 Uwe Bonnes
  *                           (bon@elektron.ikp.physik.tu-darmstadt.de)
  *
  * This program is free software: you can redistribute it and/or modify
@@ -620,6 +620,20 @@ ADIv5_AP_t *adiv5_new_ap(ADIv5_DP_t *dp, uint8_t apsel)
 	return ap;
 }
 
+/* No real AP on RP2040. Special setup.*/
+static void rp_rescue_setup(ADIv5_DP_t *dp)
+{
+	ADIv5_AP_t *ap = malloc(sizeof(*ap));
+	if (!ap) {			/* malloc failed: heap exhaustion */
+		DEBUG_WARN("malloc: failed in %s\n", __func__);
+		return;
+	}
+	ap->dp = dp;
+	extern void rp_rescue_probe(ADIv5_AP_t *);
+	rp_rescue_probe(ap);
+	return;
+}
+
 void adiv5_dp_init(ADIv5_DP_t *dp)
 {
 #define DPIDR_PARTNO_MASK 0x0ff00000
@@ -630,8 +644,12 @@ void adiv5_dp_init(ADIv5_DP_t *dp)
 		free(dp);
 		return;
 	}
-	DEBUG_INFO("DPIDR 0x%08" PRIx32 " (v%" PRId32 " %srev%" PRId32 ")\n",
-			   dp->idcode,
+	if (dp->idcode == 0x10212927) {
+		rp_rescue_setup(dp);
+		free(dp);
+		return;
+	}
+	DEBUG_INFO("DPIDR 0x%08" PRIx32 " (v%d %srev%d)\n", dp->idcode,
 			   (dp->idcode >> 12) & 0xf,
 			   (dp->idcode & 0x10000) ? "MINDP " : "", dp->idcode >> 28);
 	volatile uint32_t ctrlstat = 0;
diff --git a/src/target/adiv5.h b/src/target/adiv5.h
index 97bf928..1d2a227 100644
--- a/src/target/adiv5.h
+++ b/src/target/adiv5.h
@@ -88,7 +88,8 @@
 #define ADIV5_AP_BASE		ADIV5_AP_REG(0xF8)
 #define ADIV5_AP_IDR		ADIV5_AP_REG(0xFC)
 
-/* Known designers seen in SYSROM-PIDR. Ignore Bit 7 from the designer bits*/
+/* Known designers seen in SYSROM-PIDR. Ignore Bit 0 from
+ * the designer bits to get JEDEC Ids with bit 7 ignored.*/
 #define AP_DESIGNER_FREESCALE    0x00e
 #define AP_DESIGNER_TEXAS        0x017
 #define AP_DESIGNER_ATMEL        0x01f
@@ -102,6 +103,7 @@
 #define AP_DESIGNER_CS           0x555
 #define AP_DESIGNER_ENERGY_MICRO 0x673
 #define AP_DESIGNER_GIGADEVICE   0x751
+#define AP_DESIGNER_RASPBERRY    0x927
 
 /* AP Control and Status Word (CSW) */
 #define ADIV5_AP_CSW_DBGSWENABLE	(1u << 31)
diff --git a/src/target/adiv5_swdp.c b/src/target/adiv5_swdp.c
index db0667b..b20ae27 100644
--- a/src/target/adiv5_swdp.c
+++ b/src/target/adiv5_swdp.c
@@ -163,9 +163,6 @@ int adiv5_swdp_scan(uint32_t targetid)
 			if (initial_dp->dp_low_read(initial_dp, ADIV5_DP_IDCODE,
 										&idcode))
 				continue;
-			if (dp_targetid == 0xf1002927) /* Fixme: Handle RP2040 rescue port */
-				continue;
-			DEBUG_WARN("DP %2d IDCODE %08" PRIx32 " TID 0x%08" PRIx32 "\n", i, idcode, dp_targetid);
 		} else {
 			dp_targetid = 0;
 		}
diff --git a/src/target/cortexm.c b/src/target/cortexm.c
index 5c76eea..9fb89a3 100644
--- a/src/target/cortexm.c
+++ b/src/target/cortexm.c
@@ -437,7 +437,10 @@ bool cortexm_probe(ADIv5_AP_t *ap)
 						   "probed device\n", ap->ap_designer, ap->ap_partno);
 #endif
 		}
-		if (ap->ap_partno == 0x4c3)  { /* Cortex-M3 ROM */
+		if (ap->ap_partno == 0x4c0)  { /* Cortex-M0+ ROM */
+			if ((ap->dp->targetid & 0xfff) == AP_DESIGNER_RASPBERRY)
+				PROBE(rp_probe);
+		} else if (ap->ap_partno == 0x4c3)  { /* Cortex-M3 ROM */
 			PROBE(stm32f1_probe); /* Care for STM32F1 clones */
 			PROBE(lpc15xx_probe); /* Thanks to JojoS for testing */
 		} else if (ap->ap_partno == 0x471)  { /* Cortex-M0 ROM */
diff --git a/src/target/rp.c b/src/target/rp.c
new file mode 100644
index 0000000..0787c64
--- /dev/null
+++ b/src/target/rp.c
@@ -0,0 +1,84 @@
+/*
+ * This file is part of the Black Magic Debug project.
+ *
+ * Copyright (C) 2021 Uwe Bonnes (bon@elektron.ikp.physik.tu-darmstadt.de)
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the copyright holders nor the names of
+ *    contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
+ * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ */
+
+/* This file implements Raspberry Pico (RP2040) target specific functions
+ * for detecting the device, providing the XML memory map but not yet
+ * Flash memory programming.
+ */
+
+#include "general.h"
+#include "target.h"
+#include "target_internal.h"
+#include "cortexm.h"
+
+bool rp_probe(target *t)
+{
+	t->driver = "Raspberry RP2040";
+	target_add_ram(t, 0x20000000, 0x40000);
+	return true;
+}
+
+
+static bool rp_rescue_reset(target *t, int argc, const char **argv);
+
+const struct command_s rp_rescue_cmd_list[] = {
+	{"rescue_reset", (cmd_handler)rp_rescue_reset, "Hard reset to bootrom and halt"},
+	{NULL, NULL, NULL}
+};
+
+void rp_rescue_probe(ADIv5_AP_t *ap)
+{
+	target *t = target_new();
+	if (!t) {
+		return;
+	}
+
+	adiv5_ap_ref(ap);
+	t->priv = ap;
+	t->priv_free = (void*)adiv5_ap_unref;
+	t->driver = "Raspberry RP2040 Rescue";
+
+	target_add_commands(t, rp_rescue_cmd_list, t->driver);
+}
+
+static bool rp_rescue_reset(target *t, int argc, const char **argv)
+{
+	(void)argc;
+	(void)argv;
+	ADIv5_AP_t *ap = (ADIv5_AP_t *)t->priv;
+	ap->dp->low_access(ap->dp, ADIV5_LOW_WRITE, ADIV5_DP_CTRLSTAT,
+						  ADIV5_DP_CTRLSTAT_CDBGPWRUPREQ);
+	ap->dp->low_access(ap->dp, ADIV5_LOW_WRITE, ADIV5_DP_CTRLSTAT, 0);
+	return true;
+}
diff --git a/src/target/target.c b/src/target/target.c
index 2f70a14..eb43f37 100644
--- a/src/target/target.c
+++ b/src/target/target.c
@@ -54,7 +54,6 @@ target *target_new(void)
 
 	t->attach = (void*)nop_function;
 	t->detach = (void*)nop_function;
-	t->check_error = (void*)nop_function;
 	t->mem_read = (void*)nop_function;
 	t->mem_write = (void*)nop_function;
 	t->reg_read = (void*)nop_function;
@@ -348,7 +347,13 @@ void target_detach(target *t)
 #endif
 }
 
-bool target_check_error(target *t) { return t->check_error(t); }
+bool target_check_error(target *t) {
+	if (t)
+		return t->check_error(t);
+	else
+		return false;
+}
+
 bool target_attached(target *t) { return t->attached; }
 
 /* Memory access functions */
diff --git a/src/target/target_internal.h b/src/target/target_internal.h
index ebd9d62..ebc791f 100644
--- a/src/target/target_internal.h
+++ b/src/target/target_internal.h
@@ -192,4 +192,5 @@ bool kinetis_probe(target *t);
 bool efm32_probe(target *t);
 bool msp432_probe(target *t);
 bool ke04_probe(target *t);
+bool rp_probe(target *t);
 #endif