diff --git a/components/esp32/cpu_start.c b/components/esp32/cpu_start.c
index ac18081102..dc29d3dd18 100644
--- a/components/esp32/cpu_start.c
+++ b/components/esp32/cpu_start.c
@@ -142,11 +142,16 @@ void IRAM_ATTR call_start_cpu0()
     Cache_Flush(1);
     Cache_Read_Enable(1);
     esp_cpu_unstall(1);
-    //Enable clock gating and reset the app cpu.
-    DPORT_SET_PERI_REG_MASK(DPORT_APPCPU_CTRL_B_REG, DPORT_APPCPU_CLKGATE_EN);
-    DPORT_CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_C_REG, DPORT_APPCPU_RUNSTALL);
-    DPORT_SET_PERI_REG_MASK(DPORT_APPCPU_CTRL_A_REG, DPORT_APPCPU_RESETTING);
-    DPORT_CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_A_REG, DPORT_APPCPU_RESETTING);
+    // Enable clock and reset APP CPU. Note that OpenOCD may have already
+    // enabled clock and taken APP CPU out of reset. In this case don't reset
+    // APP CPU again, as that will clear the breakpoints which may have already
+    // been set.
+    if (!DPORT_GET_PERI_REG_MASK(DPORT_APPCPU_CTRL_B_REG, DPORT_APPCPU_CLKGATE_EN)) {
+        DPORT_SET_PERI_REG_MASK(DPORT_APPCPU_CTRL_B_REG, DPORT_APPCPU_CLKGATE_EN);
+        DPORT_CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_C_REG, DPORT_APPCPU_RUNSTALL);
+        DPORT_SET_PERI_REG_MASK(DPORT_APPCPU_CTRL_A_REG, DPORT_APPCPU_RESETTING);
+        DPORT_CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_A_REG, DPORT_APPCPU_RESETTING);
+    }
     ets_set_appcpu_boot_addr((uint32_t)call_start_cpu1);
 
     while (!app_cpu_started) {