FPGA Artix-7 XC7A100T四线JTAG下载程序失败如何解决？

开发板：正点原子达芬奇Pro开发板FPGA Artix-7 XC7A100T
调试器：Sipeed USB-JTAG/TTL RISC-V调试器
OpenOCD报错如下：
Open On-Chip Debugger 0.11.0+dev-01897-gc8fc2a168 (2022-04-01-04:46)Licensed under GNU GPL v2For bug reports, read    use 'adapter speed' not 'adapter_khz'DEPRECATED! use 'adapter driver' not 'interface'Info : Using libusb driverInfo : clock speed 1000 kHzInfo : JTAG tap: riscv.cpu tap/device found: 0x1e200a6d (mfg: 0x536 (Nuclei System Technology Co Ltd), part: 0xe200, ver: 0x1)Info : TAP auto0.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto1.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto2.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto3.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto4.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto5.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto6.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto7.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto8.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto9.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto10.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto11.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto12.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto13.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto14.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto15.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto16.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto17.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto18.tap does not have valid IDCODE (idcode=0x0)Info : TAP auto19.tap does not have valid IDCODE (idcode=0x0)Warn : Unexpected idcode after end of chain: 52 0x00000000Warn : Unexpected idcode after end of chain: 84 0xfe000000Error: double-check your JTAG setup (interface, speed, ...)Error: Trying to use configured scan chain anyway...Warn : AUTO auto0.tap - use "jtag newtap auto0 tap -irlen 2 -expected-id 0x00000000"Error: auto0.tap: IR capture error; saw 0x0000 not 0x0001Warn : Bypassing JTAG setup events due to errorsError: Unsupported DTM version 14. (dtmcontrol=0xffe)Warn : target riscv.cpu examination failedInfo : starting gdb server for riscv.cpu on 3333Info : Listening on port 3333 for gdb connectionsError: Target not examined yet