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C28xx: Error connecting to the target:

My C28xx Piccolo F28069 was working fine for a few days. I was able to connect and debug various projects. Recently I can no longer connect and I receive the following error:

C28xx: Error connecting to the target: (Error -1015 @ 0x0) Device is not responding to the request.  Device may be locked, or the debug probe connection may be unreliable. Unlock the device if possible (e.g. use wait in reset mode, and power-cycle the board). If error persists, confirm configuration and/or try more reliable JTAG settings (e.g. lower TCLK). (Emulation package 5.1.641.0) 

I've tried disconnecting the C28x board and rebooting the PC to no avail. I'm not sure how to unlock this device. I don't think it would be a JTAG issue as it was previously working.