OpenOCD doesn't recognize the Chip ID
It means that the chip is not yest supported by this OpenOCD version. The table the error is referring to is in the source file src/flash/nor/at91sam4.c. I've checked in the latest release (OpenOCD 0.9.0) and it is actually not there. You should report it to the OpenOCD developers using the SourceForge tickets system, or you can patch this file yourself if having enough confidence in this sort of things.