diff --git a/tcl/target/am335x.cfg b/tcl/target/am335x.cfg
index ff92b5bf3..e20c6f30f 100644
--- a/tcl/target/am335x.cfg
+++ b/tcl/target/am335x.cfg
@@ -15,7 +15,7 @@ if { [info exists M3_DAP_TAPID] } {
 	set _M3_DAP_TAPID 0x4b6b902f
 }
 jtag newtap $_CHIPNAME m3_dap -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_M3_DAP_TAPID -disable
-jtag configure $_CHIPNAME.m3_dap -event tap-enable "icepick_d_tapenable $_CHIPNAME.jrc 11"
+jtag configure $_CHIPNAME.m3_dap -event tap-enable "icepick_d_tapenable $_CHIPNAME.jrc 11 0"
 
 #
 # Main DAP
@@ -26,7 +26,7 @@ if { [info exists DAP_TAPID] } {
    set _DAP_TAPID 0x4b6b902f
 }
 jtag newtap $_CHIPNAME dap -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_DAP_TAPID -disable
-jtag configure $_CHIPNAME.dap -event tap-enable "icepick_d_tapenable $_CHIPNAME.jrc 12"
+jtag configure $_CHIPNAME.dap -event tap-enable "icepick_d_tapenable $_CHIPNAME.jrc 12 0"
 
 #
 # ICEpick-D (JTAG route controller)
diff --git a/tcl/target/am437x.cfg b/tcl/target/am437x.cfg
index e928dabc1..507d51e23 100644
--- a/tcl/target/am437x.cfg
+++ b/tcl/target/am437x.cfg
@@ -457,7 +457,7 @@ if { [info exists M3_DAP_TAPID] } {
 	set _M3_DAP_TAPID 0x4b6b902f
 }
 jtag newtap $_CHIPNAME $M3_MODULE -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_M3_DAP_TAPID -disable
-jtag configure $M3_NAME -event tap-enable "icepick_d_tapenable $JRC_NAME 11"
+jtag configure $M3_NAME -event tap-enable "icepick_d_tapenable $JRC_NAME 11 0"
 
 #
 # DebugSS DAP
@@ -468,7 +468,7 @@ if { [info exists DAP_TAPID] } {
    set _DAP_TAPID 0x46b6902f
 }
 jtag newtap $_CHIPNAME $DEBUGSS_MODULE -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_DAP_TAPID -disable
-jtag configure $DEBUGSS_NAME -event tap-enable "icepick_d_tapenable $JRC_NAME 12"
+jtag configure $DEBUGSS_NAME -event tap-enable "icepick_d_tapenable $JRC_NAME 12 0"
 
 #
 # ICEpick-D (JTAG route controller)
diff --git a/tcl/target/icepick.cfg b/tcl/target/icepick.cfg
index 36ffc022c..abd7b6a08 100644
--- a/tcl/target/icepick.cfg
+++ b/tcl/target/icepick.cfg
@@ -107,11 +107,17 @@ proc icepick_c_tapenable {jrc port} {
 	runtest 10
 }
 
+# jrc	== TAP name for the ICEpick
+# coreid== core id number 0..15 (not same as port number!)
+proc icepick_d_set_coreid {jrc coreid } {
+	icepick_c_router $jrc 1 0x6 $coreid 0x2008
+}
+
 # jrc	== TAP name for the ICEpick
 # port	== a port number, 0..15
 # Follow the sequence described in
 # http://processors.wiki.ti.com/images/f/f6/Router_Scan_Sequence-ICEpick-D.pdf
-proc icepick_d_tapenable {jrc port} {
+proc icepick_d_tapenable {jrc port coreid} {
 	# First CONNECT to the ICEPick
 	icepick_c_connect $jrc
 	icepick_c_setup $jrc
@@ -120,8 +126,7 @@ proc icepick_d_tapenable {jrc port} {
 	icepick_c_router $jrc 1 0x2 $port 0x2108
 
 	# Set 4 bit core ID to the Cortex-A
-	irscan $jrc [CONST IR_ROUTER] -endstate IRPAUSE
-	drscan $jrc 32 0xe0002008 -endstate DRPAUSE
+	icepick_d_set_coreid $jrc $coreid
 
 	# Enter the bypass state
 	irscan $jrc [CONST IF_BYPASS] -endstate RUN/IDLE