diff --git a/src/platforms/hosted/jlink_adiv5_swdp.c b/src/platforms/hosted/jlink_adiv5_swdp.c
index d1e21e5..0fb7789 100644
--- a/src/platforms/hosted/jlink_adiv5_swdp.c
+++ b/src/platforms/hosted/jlink_adiv5_swdp.c
@@ -136,7 +136,7 @@ uint32_t jlink_swdp_scan(bmp_info_t *info)
 
 	jlink_adiv5_swdp_error(dp);
 
-	adiv5_dp_init(dp);
+	adiv5_dp_init(dp, 0);
 
 	return target_list ? 1U : 0U;
 }
diff --git a/src/platforms/hosted/stlinkv2.c b/src/platforms/hosted/stlinkv2.c
index dbab3f7..a69e3b8 100644
--- a/src/platforms/hosted/stlinkv2.c
+++ b/src/platforms/hosted/stlinkv2.c
@@ -1099,7 +1099,7 @@ uint32_t stlink_swdp_scan(bmp_info_t *info)
 
 	stlink_dp_error(dp);
 
-	adiv5_dp_init(dp);
+	adiv5_dp_init(dp, 0);
 
 	return target_list ? 1U : 0U;
 }
diff --git a/src/target/adiv5.c b/src/target/adiv5.c
index 1394133..fbcb43d 100644
--- a/src/target/adiv5.c
+++ b/src/target/adiv5.c
@@ -681,7 +681,7 @@ static void rp_rescue_setup(ADIv5_DP_t *dp)
 	return;
 }
 
-void adiv5_dp_init(ADIv5_DP_t *dp)
+void adiv5_dp_init(ADIv5_DP_t *dp, const uint32_t idcode)
 {
 	/*
 	 * Assume DP v1 or later.
@@ -691,10 +691,11 @@ void adiv5_dp_init(ADIv5_DP_t *dp)
 	 *
 	 * for SWD-DP, we are guaranteed to be DP v1 or later.
 	 */
-	volatile uint32_t dpidr;
+	volatile uint32_t dpidr = 0;
 	volatile struct exception e;
 	TRY_CATCH (e, EXCEPTION_ALL) {
-		dpidr = adiv5_dp_read(dp, ADIV5_DP_DPIDR);
+		if (idcode != JTAG_IDCODE_ARM_DPv0)
+			dpidr = adiv5_dp_read(dp, ADIV5_DP_DPIDR);
 	}
 	if (e.type) {
 		DEBUG_WARN("DP not responding!...\n");
@@ -728,16 +729,13 @@ void adiv5_dp_init(ADIv5_DP_t *dp)
 		} else {
 			DEBUG_WARN("Invalid DPIDR %08" PRIx32 " assuming DP version 0\n", dpidr);
 			dp->version = 0;
+			dp->designer_code = 0;
+			dp->partno = 0;
+			dp->mindp = false;
 		}
-
-	}
-	if (dp->version == 0) {
+	} else if (dp->version == 0)
 		/* DP v0 */
-		DEBUG_WARN("DPv0 detected, no designer code available\n");
-		dp->designer_code = 0;
-		dp->partno = 0;
-		dp->mindp = 0;
-	}
+		DEBUG_WARN("DPv0 detected based on JTAG IDCode\n");
 
 	if (dp->version >= 2) {
 		adiv5_dp_write(dp, ADIV5_DP_SELECT, 2); /* TARGETID is on bank 2 */
diff --git a/src/target/adiv5.h b/src/target/adiv5.h
index f248db8..e670cce 100644
--- a/src/target/adiv5.h
+++ b/src/target/adiv5.h
@@ -162,6 +162,8 @@
 #define JTAG_IDCODE_DESIGNER_OFFSET 1U
 #define JTAG_IDCODE_DESIGNER_MASK   (0x7ffU << JTAG_IDCODE_DESIGNER_OFFSET)
 
+#define JTAG_IDCODE_ARM_DPv0 0x4ba00477U
+
 /* Constants to make RnW parameters more clear in code */
 #define ADIV5_LOW_WRITE 0
 #define ADIV5_LOW_READ  1
@@ -358,7 +360,7 @@ void adiv5_mem_write_sized(ADIv5_AP_t *ap, uint32_t dest, const void *src, size_
 void adiv5_dp_write(ADIv5_DP_t *dp, uint16_t addr, uint32_t value);
 #endif
 
-void adiv5_dp_init(ADIv5_DP_t *dp);
+void adiv5_dp_init(ADIv5_DP_t *dp, uint32_t idcode);
 void platform_adiv5_dp_defaults(ADIv5_DP_t *dp);
 ADIv5_AP_t *adiv5_new_ap(ADIv5_DP_t *dp, uint8_t apsel);
 void remote_jtag_dev(const jtag_dev_t *jtag_dev);
diff --git a/src/target/adiv5_jtagdp.c b/src/target/adiv5_jtagdp.c
index d57af48..beca01a 100644
--- a/src/target/adiv5_jtagdp.c
+++ b/src/target/adiv5_jtagdp.c
@@ -56,7 +56,7 @@ void adiv5_jtag_dp_handler(uint8_t jd_index)
 		dp->abort = adiv5_jtagdp_abort;
 	}
 
-	adiv5_dp_init(dp);
+	adiv5_dp_init(dp, jtag_devs[jd_index].jd_idcode);
 }
 
 uint32_t fw_adiv5_jtagdp_read(ADIv5_DP_t *dp, uint16_t addr)
diff --git a/src/target/adiv5_swdp.c b/src/target/adiv5_swdp.c
index 4112736..afc86b3 100644
--- a/src/target/adiv5_swdp.c
+++ b/src/target/adiv5_swdp.c
@@ -194,7 +194,7 @@ uint32_t adiv5_swdp_scan(uint32_t targetid)
 		memcpy(dp, initial_dp, sizeof(ADIv5_DP_t));
 		dp->instance = i;
 
-		adiv5_dp_init(dp);
+		adiv5_dp_init(dp, 0);
 	}
 	return target_list ? 1U : 0U;
 }