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RTOS/AM5728: M4 target connect fails

Part Number: AM5728

Tool/software: TI-RTOS

Hi,

I use CCS7.2 emulation test AM5728 Cortex M4, but  when i connect target,the error is...

Cortex_M4_IPU1_C0: Error connecting to the target: (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 6.0.628.3) 

Best wishes!