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Have you tried doing an Auto Detect in the Programmer?
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Yes, it auto-detects the 5CSEMA4U23 which is correct, and the same as what I compiled the project with. However after the device fails to program, if I try to auto-detect again it gives the error in a pop-up window:
Unable to scan device chain. Can't scan JTAG chain. Do you want to open the JTAG Chain Debugger to troubleshoot the JTAG chain?
Which is when it gives those errors about the tdi, tck, and tms connections shown in the previous post screenshots.
When I power cycle the board it is again able to auto-detect and the JTAG test comes back clean.
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