Cannot connect to database master at sql server at

I am getting an error " cannot connect to database master at SQL server at <server_name>.The database must not exist, or the current user does not have permission toconnect to it." 

Pre requisities installed are showing like this

• Application Server Role, Web Server (IIS) Role: configured successfully
• Microsoft SQL Server 2008 Native Client: was already installed (no action taken)
• Hotfix for Microsoft Windows (KB976462): equivalent products already installed (no action taken)
• Windows Identity Foundation (KB974405): was already installed (no action taken)
• Microsoft Sync Framework Runtime v1.0 (x64): was already installed (no action taken)
• Microsoft Chart Controls for Microsoft .NET Framework 3.5: was already installed (no action taken)
• Microsoft Filter Pack 2.0: equivalent products already installed (no action taken)
• Microsoft SQL Server 2008 Analysis Services ADOMD.NET: was already installed (no action taken)
• Microsoft Server Speech Platform Runtime (x64): was already installed (no action taken)
• Microsoft Server Speech Recognition Language - TELE(en-US): was already installed (no action taken)
• SQL 2008 R2 Reporting Services SharePoint 2010 Add-in: equivalent products already installed (no action taken)

Operating system is Windows Server 2008 R2 SP1, Sharepoint version is Sharepoint Foundation 2010.

Do I need to install any other software or update before continuing. SQL Server are not showing in program files, I have created a firewall inbound rule to allow ports 1433/1434 for both UDP and TCP.