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AM437x with PRU : Unable to access the DAP

Hi:

I do step by step with the PRU Training : Hands-on Labs

But Stop no.9 d. Right click on the PRU0 core and select Connect Target.

Windows Message :

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Error connecting to the target:
(Error -1170 @ 0x54462000)
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 5.1.641.0)

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And show some error message in console :

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CortexA9: Output: ****** PRU Cape PINMUX is being configured  *****
CortexA9: Output:  ****** Enabling PRU-ICSS clock ******
CortexA9: Output: * ***** Reseting the PRU-ICSS   ******
PRU_ICSS0_PRU0: Error connecting to the target: (Error -1170 @ 0x54462000) 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 5.1.641.0)

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