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TMS570LS1224: TMS570 can't be halted using OPENOCD

Part Number: TMS570LS1224
Other Parts Discussed in Thread: LAUNCHXL2-TMS57012

Hi all,

I am a Hercules beginner. I had a Launchpad with TMS570LS1224. As I knew, XDS110 is on the board and support CMSIS-DAP. So I try to use OPENOCD to access TMS570 internal memory and learn how to access cortex R4. Currently, I can connect the target deivce using OPENOCD. But the device can not be halted (timeout waiting for halt). Please refer the picture below.
Does any body have experience with this? Thanks.

Environment:
Windows 8
openocd 0.10
Launchxl2-TMS57012

Windows command line:

openocd -f My_XDS110.cfg -f scripts/target/ti_TMS570LS1224.cfg

content of My_XDS110.cfg:

interface cmsis-dap
cmsis_dap_vid_pid 0x0451 0xBEF3
transport select jtag


content of ti_TMS570LS1224.cfg

# TMS570LS1224
set DAP_TAPID 0x2B95502F
set JRC_TAPID 0x2B95502F

source [find target/ti_tms570.cfg]