Jupiter2: How to connect to JTAG?

For some study reason I want to connect to my board by JTAG.

Unfortunately I didn’t find any instructions how to make this and where is JTAG port.

My question is will I be able to connect by JTAG or this is unrealistic?

I’ve never done JTAG and don’t really know what one does with it, but I found these resources while trying to figure out how to boot over UART. They might help you: