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Please check if you have made the connections as illustrated below:
Reference Document: https://www.cypress.com/file/119651/download
Please see the points mentioned under Notes and ensure your design takes care of that. In PSoC Creator, check the "Debug Port Select" option in the System tab to be either 4-wire JTAG or 5-wire JTAG based on if you are connecting the TRST pin.
If this is a custom board, please attach your schematic if the issue persists.