Can't load and run u-boot in SC589

When I run the following command:

# /opt/analog/cces/2.8.3/ARM/openocd/bin/openocd -f interface/ice1000.cfg -f target/adspsc58x.cfg

The console output below:

Open On-Chip Debugger (Analog Devices CCES 2.8.0 OpenOCD 0.9.0-g5030ad7) 0.9.0
Licensed under GNU GPL v2
Report bugs to <processor.tools.support@analog.com>
adapter speed: 1000 kHz
Info : transports supported by the debug adapter: "jtag", "swd"
Info : auto-select transport "jtag"
halt and restart using CTI
trst_only separate trst_push_pull
Error: unable to write from &usb_cmd_blk to usb: wanted 12 bytes but only wrote 0 bytes
Info : ICE-1000 firmware version is 255.15.12
Error: unable to write from &usb_cmd_blk to usb: wanted 12 bytes but only wrote 0 bytes
Error: unable to write from &usb_cmd_blk to usb: wanted 12 bytes but only wrote 0 bytes
Error: unable to write from &usb_cmd_blk to usb: wanted 12 bytes but only wrote 0 bytes
Error: unable to write from &usb_cmd_blk to usb: wanted 12 bytes but only wrote 0 bytes
Info : clock speed 1000 kHz
Error: unable to write from &usb_cmd_blk to usb: wanted 12 bytes but only wrote 0 bytes
Error: unable to write from &usb_cmd_blk to usb: wanted 12 bytes but only wrote 0 bytes
Error: unable to write from &usb_cmd_blk to usb: wanted 12 bytes but only wrote 0 bytes
Info : JTAG tap: adspsc58x.adjc tap/device found: 0xf21c3201 (mfg: 0x100, part: 0x21c3, ver: 0xf)
Warn : JTAG tap: adspsc58x.adjc UNEXPECTED: 0xf21c3201 (mfg: 0x100, part: 0x21c3, ver: 0xf)
Error: JTAG tap: adspsc58x.adjc expected 1 of 3: 0x028080cb (mfg: 0x065, part: 0x2808, ver: 0x0)
Error: JTAG tap: adspsc58x.adjc expected 2 of 3: 0x128080cb (mfg: 0x065, part: 0x2808, ver: 0x1)
Error: JTAG tap: adspsc58x.adjc expected 3 of 3: 0x228080cb (mfg: 0x065, part: 0x2808, ver: 0x2)
Warn : Unexpected idcode after end of chain: 544 0x1fffffff
Warn : Unexpected idcode after end of chain: 576 0x00000ff3
Warn : Unexpected idcode after end of chain: 608 0x1de5c202
Warn : Unexpected idcode after end of chain: 640 0x7de5c202
Error: double-check your JTAG setup (interface, speed, ...)
Error: unable to write from &usb_cmd_blk to usb: wanted 12 bytes but only wrote 0 bytes
Error: unable to write from &usb_cmd_blk to usb: wanted 12 bytes but only wrote 0 bytes
Error: unable to write from &usb_cmd_blk to usb: wanted 12 bytes but only wrote 0 bytes
Error: unable to write from &usb_cmd_blk to usb: wanted 12 bytes but only wrote 0 bytes
Info : TAP adspsc58x.adjc does not have IDCODE
Info : TAP auto0.tap does not have IDCODE
Info : TAP auto1.tap does not have IDCODE
Info : TAP auto2.tap does not have IDCODE
Info : TAP auto3.tap does not have IDCODE
Info : TAP auto4.tap does not have IDCODE
Info : TAP auto5.tap does not have IDCODE
Info : TAP auto6.tap does not have IDCODE
Info : TAP auto7.tap does not have IDCODE
Info : JTAG tap: auto8.tap tap/device found: 0xfff90e15 (mfg: 0x70a, part: 0xff90, ver: 0xf)
Warn : Unexpected idcode after end of chain: 553 0x09dfffff
Warn : Unexpected idcode after end of chain: 585 0x01e0000c
Warn : Unexpected idcode after end of chain: 617 0x01eef2e6
Error: double-check your JTAG setup (interface, speed, ...)
embedded:startup.tcl:21: Error:
in procedure 'init'
in procedure 'ocd_bouncer'
in procedure 'jtag_init' called at file "../../../../openocd/src/jtag/core.c", line 1562
in procedure 'init_reset' called at file "embedded:startup.tcl", line 74
in procedure 'jtag' called at file "embedded:startup.tcl", line 91
in procedure 'ocd_bouncer'
at file "embedded:startup.tcl", line 21
embedded:startup.tcl:21: Error:
in procedure 'jtag_init' called at file "../../../../openocd/src/jtag/core.c", line 1562
in procedure 'init_reset' called at file "embedded:startup.tcl", line 74
in procedure 'jtag' called at file "embedded:startup.tcl", line 91
in procedure 'ocd_bouncer'
at file "embedded:startup.tcl", line 21
Error: unable to write from &usb_cmd_blk to usb: wanted 12 bytes but only wrote 0 bytes

I have succesfully runned OpenOCD one time before.But  when I flashed U-Boot to SPI Flash,I failed.So I have to restart from the step "Run OpenOCD",Then I meet the error above.

Thanks in advance for support,

Haoran