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CCS5.3 can not connect to C5535 eZDSP

Got the C5535 eZdsp board today, but I could not connect to the board using CCS 5.3.

Here is what I did,

connection: Texas Instrument XDSv2 USB Emulator

Borad or Device: EZDSP5535

Then when I connected the board, I got this error message:

C55xx: Error connecting to the target: (Error -151 @ 0x0) One of the FTDI driver functions used during the connect returned bad status or an error. The cause may one or more of: invalid emulator serial number, blank emulator EEPROM, missing FTDI drivers, faulty USB cable. Use the xds100serial command-line utility in the 'common/uscif' folder to verify the emulator can be located. (Emulation package 5.1.8.0)

I am not sure what went wrong, the board shows Rev D.

Thanks for the help

Mike.