Digilent Genesys ZU Reference Manual page 17

PL TAP (used for PL configuration and boundary scan)
DAP (used for ARM debugging, Real time processing unit (RPU) and Application Processing Unit (APU))
Taking into account this architecture, when placed in JTAG boot mode, the processor (APU) will wait
until software is loaded by a host computer using the Xilinx tools. After software has been loaded, it is
possible to either let the software begin executing, or step through it line by line using Xilinx SDK.
It is also possible to directly configure the PL over JTAG, independent of the processor. This can be done
using the Vivado Hardware Server.
The Genesys ZU is configured to boot in Cascaded JTAG mode, which allows the PS to be accessed via
the same JTAG port as the PL.
You need a JTAG programmer to connect into the JTAG chain of the Genesys ZU. There is an on‐board
USB‐JTAG controller for which Vivado support is expected in version 2020.1. Until built‐in Vivado
support is available a Digilent JTAG‐HS1 or JTAG‐HS2 programming cable will be bundled with the kit.
This cable connects to the 6‐pin header J28 and is already supported by Vivado.
Connecting both the on‐board programmer and the bundled programming cable to the PC might cause
conflict in Vivado Hardware Server with not the right cable being opened and no targets being found.
The solution is launching Hardware Server manually before any connection attempt is made, or after
killing any automatically launched instances of hw_server.exe. Launching Hardware Server manually can
be done from the Vivado Tcl Shell using the command below.
Vivado% hw_server ‐e "set jtag‐port‐filter 210205,210249"
WARNING: [Common 17‐259] Unknown Tcl command 'hw_server ‐e set jtag‐port‐filter 210205,210249'
sending command to the OS shell for execution. It is recommended to use 'exec' to send the command
to the OS shell.
****** Xilinx hw_server v2019.1
**** Build date : May 24 2019 at 15:13:31
** Copyright 1986‐2019 Xilinx, Inc. All Rights Reserved.
INFO: hw_server application started
INFO: Use Ctrl‐C to exit hw_server application
INFO: To connect to this hw_server instance use url: TCP:<hostname>:3121