@jarkko My guess would be something like https://www.olimex.com/Products/ARM/JTAG/ARM-USB-TINY-H/ and OpenOCD.
@jarkko Low-level JTAG is an IEEE standard. The RISC-V specifics of how the IR/DR resources work are in this part of the debug spec. https://github.com/riscv/riscv-debug-spec/blob/main/dtm.adoc
@Fishwaldo @jarkko From https://wiki.sipeed.com/hardware/en/logic_analyzer/combo8/use_cklink_function.html it looks like CKLINK is at least a custom header, with a combo of UART and JTAG. You'll have to look into which header works with what board, and then whether the chip partially or wholely supports RISC-V debug directly via the JTAG interface.
@jarkko @sdbbp it’s proprietary debug protocol for t-head riscv based cores. Eg the TH1520 in the lichee 4a or sophgo based chips.
It operates very similar from a software developers perspective to JTAG but its implementation is slightly different. eg, it doesn’t use openOCD to connect to GDB, but something called THeadDebugServer.