diff --git a/src/jtag/drivers/am335xgpio.c b/src/jtag/drivers/am335xgpio.c
index e641a4fae6..29d410118e 100644
--- a/src/jtag/drivers/am335xgpio.c
+++ b/src/jtag/drivers/am335xgpio.c
@@ -184,7 +184,8 @@ static void initialize_gpio(enum adapter_gpio_config_index idx)
 	}
 
 	/* Direction for non push-pull is already set by set_gpio_value() */
-	if (adapter_gpio_config[idx].drive == ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL)
+	if (adapter_gpio_config[idx].drive == ADAPTER_GPIO_DRIVE_MODE_PUSH_PULL
+		&& adapter_gpio_config[idx].init_state != ADAPTER_GPIO_INIT_STATE_INPUT)
 		AM335XGPIO_SET_OUTPUT(&adapter_gpio_config[idx]);
 }