AM5729: Error While flashing code

Tool/software:

Have checked connection and setup it all good. Still have below error while flashing.

CS_DAP_DebugSS: Error: (Error -242 @ 0x0) A router subpath could not be accessed. The board configuration file is probably incorrect. (Emulation package 8.3.0.00003)
CortexA15_0: JTAG Communication Error: (Error -1170 @ 0x0) Unable to access the DAP. Reset the device, and retry the operation. If error persists, confirm configuration, power-cycle the board, and/or try more reliable JTAG settings (e.g. lower TCLK). (Emulation package 8.3.0.00003)
CortexA15_0: Failed to remove the debug state from the target before disconnecting. There may still be breakpoint op-codes embedded in program memory. It is recommended that you reset the emulator before you connect and reload your program before you continue debugging

Suggest what could be the reason.

Thanks