08_hw_debug_JTAG make openocd but get an error

[fuxinyuan1998]

When I run the code of chapter 08 according to the tutorial step by step, I run the make jtagboot successfully but when I run the make openocd to get an error like the following.

Launching OpenOCD
Open On-Chip Debugger 0.11.0+dev-g1ad6ed3 (2021-12-02-20:10)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
DEPRECATED! use 'adapter speed' not 'adapter_khz'
Warn : DEPRECATED! use '-baseaddr' not '-ctibase'
Warn : DEPRECATED! use '-baseaddr' not '-ctibase'
Warn : DEPRECATED! use '-baseaddr' not '-ctibase'
Warn : DEPRECATED! use '-baseaddr' not '-ctibase'
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : clock speed 1000 kHz
Error: JTAG scan chain interrogation failed: all ones
Error: Check JTAG interface, timings, target power, etc.
Error: Trying to use configured scan chain anyway...
Error: rpi4.tap: IR capture error; saw 0x0f not 0x01
Warn : Bypassing JTAG setup events due to errors
Error: Invalid ACK (7) in DAP response
Error: JTAG-DP STICKY ERROR


make: *** [Makefile:245: openocd] Error 1

I search the web for the reasons and solutions but I get nothing, and I am sure that I connect the GPIO pins and ARM-USB-TINY-H correctly. So does anyone have the same problem or give me some tips?