diff --git a/src/target/adi_v5_jtag.c b/src/target/adi_v5_jtag.c
index 36d5cad51..2717c9e36 100644
--- a/src/target/adi_v5_jtag.c
+++ b/src/target/adi_v5_jtag.c
@@ -448,7 +448,12 @@ static int jtagdp_overrun_check(struct adiv5_dap *dap)
 					/* timeout happened */
 					if (tmp->ack != JTAG_ACK_OK_FAULT) {
 						LOG_ERROR("Timeout during WAIT recovery");
+						dap->select = DP_SELECT_INVALID;
 						jtag_ap_q_abort(dap, NULL);
+						/* clear the sticky overrun condition */
+						adi_jtag_scan_inout_check_u32(dap, JTAG_DP_DPACC,
+							DP_CTRL_STAT, DPAP_WRITE,
+							dap->dp_ctrl_stat | SSTICKYORUN, NULL, 0);
 						retval = ERROR_JTAG_DEVICE_ERROR;
 					}
 				}
@@ -525,8 +530,14 @@ static int jtagdp_overrun_check(struct adiv5_dap *dap)
 			if (retval == ERROR_OK) {
 				if (el->ack != JTAG_ACK_OK_FAULT) {
 					LOG_ERROR("Timeout during WAIT recovery");
+					dap->select = DP_SELECT_INVALID;
 					jtag_ap_q_abort(dap, NULL);
+					/* clear the sticky overrun condition */
+					adi_jtag_scan_inout_check_u32(dap, JTAG_DP_DPACC,
+						DP_CTRL_STAT, DPAP_WRITE,
+						dap->dp_ctrl_stat | SSTICKYORUN, NULL, 0);
 					retval = ERROR_JTAG_DEVICE_ERROR;
+					break;
 				}
 			} else
 				break;