diff --git a/plat/xilinx/zynqmp/bl31_zynqmp_setup.c b/plat/xilinx/zynqmp/bl31_zynqmp_setup.c
index 6dc1c2d22ae06dd04443d51dc69528467b6468fe..471b1cc60095d952cebda208baf02fabde9363f8 100644
--- a/plat/xilinx/zynqmp/bl31_zynqmp_setup.c
+++ b/plat/xilinx/zynqmp/bl31_zynqmp_setup.c
@@ -35,6 +35,19 @@ entry_point_info_t *bl31_plat_get_next_image_ep_info(uint32_t type)
 	return &bl32_image_ep_info;
 }
 
+/*
+ * Set the build time defaults. We want to do this when doing a JTAG boot
+ * or if we can't find any other config data.
+ */
+static inline void bl31_set_default_config(void)
+{
+	bl32_image_ep_info.pc = BL32_BASE;
+	bl32_image_ep_info.spsr = arm_get_spsr_for_bl32_entry();
+	bl33_image_ep_info.pc = plat_get_ns_image_entrypoint();
+	bl33_image_ep_info.spsr = SPSR_64(MODE_EL2, MODE_SP_ELX,
+					  DISABLE_ALL_EXCEPTIONS);
+}
+
 /*
  * Perform any BL31 specific platform actions. Here is an opportunity to copy
  * parameters passed by the calling EL (S-EL1 in BL2 & S-EL3 in BL1) before they
@@ -69,17 +82,14 @@ void bl31_early_platform_setup(bl31_params_t *from_bl2,
 	SET_SECURITY_STATE(bl33_image_ep_info.h.attr, NON_SECURE);
 
 	if (zynqmp_get_bootmode() == ZYNQMP_BOOTMODE_JTAG) {
-		/* use build time defaults in JTAG boot mode */
-		bl32_image_ep_info.pc = BL32_BASE;
-		bl32_image_ep_info.spsr = arm_get_spsr_for_bl32_entry();
-		bl33_image_ep_info.pc = plat_get_ns_image_entrypoint();
-		bl33_image_ep_info.spsr = SPSR_64(MODE_EL2, MODE_SP_ELX,
-						  DISABLE_ALL_EXCEPTIONS);
+		bl31_set_default_config();
 	} else {
 		/* use parameters from FSBL */
 		enum fsbl_handoff ret = fsbl_atf_handover(&bl32_image_ep_info,
 							  &bl33_image_ep_info);
-		if (ret != FSBL_HANDOFF_SUCCESS)
+		if (ret == FSBL_HANDOFF_NO_STRUCT)
+			bl31_set_default_config();
+		else if (ret != FSBL_HANDOFF_SUCCESS)
 			panic();
 	}
 
diff --git a/plat/xilinx/zynqmp/plat_startup.c b/plat/xilinx/zynqmp/plat_startup.c
index 32c2db720dbed09108e371329b05a5a00678e20b..d3e182cac5e463d81712d2bdf3367be4bea3a7c6 100644
--- a/plat/xilinx/zynqmp/plat_startup.c
+++ b/plat/xilinx/zynqmp/plat_startup.c
@@ -161,7 +161,7 @@ enum fsbl_handoff fsbl_atf_handover(entry_point_info_t *bl32, entry_point_info_t
 	assert((atf_handoff_addr < BL31_BASE) ||
 	       (atf_handoff_addr > (uint64_t)&__BL31_END__));
 	if (!atf_handoff_addr) {
-		ERROR("BL31: No ATF handoff structure passed\n");
+		WARN("BL31: No ATF handoff structure passed\n");
 		return FSBL_HANDOFF_NO_STRUCT;
 	}