Problem with Debug Connection running openocd

We cannot connect to the JTAG/cJTAG when running openocd -f config.cfg file on U74 CPU, but it similar setup works on the U5 CPU, is there any setup differently between U74 and U54 ?

Our error message as follows:

sudo openocd -f jlink_vcu118_2.cfg

Open On-Chip Debugger 0.10.0+dev-g7fe6fcfd (2021-06-02-10:35)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
adapter speed: 1000 kHz
Begin jtag newtap:
TapName Enabled IdCode Expected IrLen IrCap IrMask


0 riscv.cpu Y 0x00000000 0x*0000000 5 0x01 0x03
set block
target create block
Error: Invalid command argument
Error: Invalid command argument
Error: Invalid command argument
Error: Invalid command argument
Error: Invalid command argument
sudo openocd -f jlink_vcu118_2.cfgInfo : J-Link V9 compiled Dec 13 2019 11:14:50
Info : Hardware version: 9.20
Info : VTarget = 3.306 V
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: riscv.cpu: IR capture error; saw 0x1f not 0x01
Warn : Bypassing JTAG setup events due to errors
Error: Unsupported DTM version: 15
Info : Listening on port 3456 for gdb connections
Info : Listening on port 3457 for gdb connections
Info : Listening on port 3458 for gdb connections
Info : Listening on port 3459 for gdb connections
Info : Listening on port 3460 for gdb connections
Error: authdata_read is not implemented for this target.

Error: Unsupported DTM version: 15

Thanks,
CK