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TMS570LS04x

sir

Specifically JM Mifsud's suggestions: 
William,

Can you try the following and let me know the result. (I'm actually in business trip and don't have a board to do screen capture)

1] Start CCS
2] Open Target Configurations Window.
3] Right click on your target configuration for your device.
4] Click on Launch Selected Configuration.
5] A new window (Debug) should be open.
6] Right click on the entry in this window and select Show all Core.
7] Right click on "Icepick" and select "Connect"
8] Icepick should be connected now.
9] right click on "DAP" and select "Connect"
10] DAP should be connected now.
11] Right Click on Cortex_R4 and select "Connect"
12] Cortex_R4 should be connected.

Please let me know if this sequence is working. If not, at what stage is it failing?

Sir, 

i am getting the same error while connecting icePick, dap,cortexR4.

is that meaning that launchpad is damage.