Other Parts Discussed in Thread: UNIFLASH
Unable to halt device.
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Hi Don,
Yes, it can be difficult to connect to the target once there is an error in the code that's been loaded into flash.
There is a procedure in this post: e2e.ti.com/.../1675676
Another post that's a different writeup of the same steps is 
That is usually the first thing I'd try after pressing the reset button (System or Warm Reset, not power on reset) doesn't work after a few tries.
This post from Sunil also explains a bit the background of the issue which is that the debug exception isn't the highest priority - so sometimes you have a tight 'window' of time to hit with the debug request.
e2e.ti.com/.../952857