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TMS320DM816x DaVinci JTAG error

Hi,

I am using TMS320DM8168CCYGA2 processor ,facing issue in connecting JTAG  with CCS 

Error message is pasted below

CortexA8: GEL Output: EVM816x Startup Sequence

CortexA8: GEL Output: PRCM Setup Complete
CortexA8: GEL Output: Configuring Pad Functions...
CortexA8: Trouble Writing Memory Block at 0x48140ac8 on Page 0 of Length 0x4: (Error -2130 @ 0x48140AC8) Unable to access device memory. Verify that the memory address is in valid memory. If error persists, confirm configuration, power-cycle board, and/or try more reliable JTAG settings (e.g. lower TCLK). (Emulation package 5.1.507.0)
CortexA8: GEL: Error while executing OnTargetConnect(): Target failed to write 0x48140AC8 at *((unsigned int *) (0x48140000+0x0AC8))=(unsigned int) 1 [CABS_AVRM_sd_SW_level_allCS.gel:325] at Setup_PADCTRL() [CABS_AVRM_sd_SW_level_allCS.gel:45] at OnTargetConnect() .
CortexA8: Trouble Reading Register CP15_Registers_CP15_CONTROL_REGISTER: (Error -2131 @ 0x20013F00) Unable to access device register. 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 5.1.507.0)
CortexA8: Trouble Reading Register CP15_Registers_CP15_CONTROL_REGISTER: (Error -2131 @ 0x20013F00) Unable to access device register. 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 5.1.507.0)
CortexA8: Trouble Reading Register CP15_Registers_CP15_MMU_XLATION_TABLE_BASE_CONTROL: (Error -2131 @ 0x20023F40) Unable to access device register. 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 5.1.507.0)
CortexA8: Trouble Reading Register CP15_Registers_CP15_MMU_XLATION_TABLE_BASE_0: (Error -2131 @ 0x20023F00) Unable to access device register. 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 5.1.507.0)
CortexA8: Trouble Reading Register CP15_Registers_CP15_MMU_XLATION_TABLE_BASE_1: (Error -2131 @ 0x20023F20) Unable to access device register. 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 5.1.507.0)
CortexA8: Trouble Reading Register CP15_Registers_CP15_MMU_DOMAIN_ACCESS_CONTROL: (Error -2131 @ 0x20033F00) Unable to access device register. 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 5.1.507.0)

How to solve the error?