Jetson AGX Xavier GPIO Expansion Header Mapping

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1	Jetson Xavier J30 GPIO Expansion Header Mapping
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3	Connector Pin #	Connector Label	RPi default SoC pull	CV-B signal	CV-B/CV-M connector signal	CV-M signal	Tegra pin	HW GPIO	Linux GPIO Within Chip	Assumed Linux GPIO Chip Base	Linux GPIO	Notes
4	1	3V3
5	2	5V0
6	3	SDA1	High	I2C_GP5_DAT_3V3 I2C_GP5_DAT_3V3	I2C5_DAT	I2C5_DAT I2C5_DAT_L	DP_AUX_CH3_N	-			0	Don't use as GPIO
7	4	5V0
8	5	SCL1	High	I2C_GP5_DAT_3V3 I2C_GP5_CLK	I2C5_CLK	I2C5_CLK I2C5_CLK_L	DP_AUX_CH3_P	-			0	Don't use as GPIO
9	6	GND									0
10	7	GPIO_GCLK	High	MCLK05_3V3 MCLK05	MCLK05	CAM5_MCLK CAM5_MCLK_L	SOC_GPIO42	Q.06	134	288	422
11	8	TXD0	Low	UART1_TX_3V3 UART1_TX	UART1_TX	UART1_TX	UART1_TX	R.02	138	288	426	Don't use as GPIO
12	9	GND									0
13	10	RXD0	Low	UART1_RX_3V3 UART1_RX	UART1_RX	UART1_RX	UART1_RX	R.03	139	288	427	Don't use as GPIO
14	11	GPIO_GEN0	Low	UART1_RTS_3V3 UART1_RTS	UART1_RTS	UART1_RTS	UART1_RTS	R.04	140	288	428
15	12	GPIO_GEN1	Low	I2S2_CLK_3V3 I2S2_CLK	I2S2_CLK	I2S2_CLK	DAP2_SCLK	H.07	63	288	351
16	13	GPIO_GEN2	Low	PWM01_3V3 PWM01_40PIN PWM01	PWM01	BKLIGHT_PWM0_GMSL_INT3 SOC_GPIO44	SOC_GPIO44	R.00	136	288	424
17	14	GND
18	15	GPIO_GEN3	Low	GPIO27_PWM2_3V3 GPIO27_PWM2_40PIN GPIO27_PWM2	GPIO27	GPIO27_SOCGPIO54	SOC_GPIO54	N.01	105	288	393
19	16	GPIO_GEN4	Low	GPIO8_AO_DMIC_IN_DAT	GPIO8	GPIO8_AO_DMIC_IN_DAT	CAN1_STB	BB.00	8	248	256
20	17	3V3									0
21	18	GPIO_GEN5	Low	GPIO35_PWM3_3V3 GPIO35_PWM3	GPIO35	GPIO35_SOCGPIO12	SOC_GPIO12	H.00	56	288	344
22	19	SPI_MOSI	Low	SPI1_MOSI_3V3 SPI1_MOSI	SPI1_MOSI	SPI1_MOSI	SPI1_MOSI	Z.05	205	288	493
23	20	GND									0
24	21	SPIO_MISO	Low	SPI1_MISO_3V3 SPI1_MISO	SPI1_MISO	SPI1_MISO	SPI1_MISO	Z.04	204	288	492
25	22	GPIO_GEN6	Low	GPIO17_40HEADER_3V3 GPIO17_40HEADER	GPIO17	GPIO17_GMSI_INT0	SOC_GPIO21	Q.01	129	288	417
26	23	SPI_SCLK	Low	SPI1_SCK_3V3 SPI1_SCK	SPI1_CLK	SPI1_SCK	SPI1_SCK	Z.03	203	288	491
27	24	SPI_CE0_N	High	SPI1_CS0_3V3 SPI1_CS0	SPI1_CS0_N	SPI1_SC0	SPI1_CS0_N	Z.06	206	288	494
28	25	GND
29	26	SPI_CE1_N	High	SPI1_CS1_3V3 SPI1_CS1	SPI1_CS1_N	SPI1_SC1	SPI1_CS1_N	Z.07	207	288	495
30	27	ID_SD		I2C_GP2_DAT_3V3 I2C_GP2_DAT	I2C2_DAT	I2C2_DAT I2C2_DAT_L	GEN2_I2C_SDA	DD.00	24	248	272	Don't use as GPIO
31	28	ID_SC		I2C_GP2_CLK_3V3 I2C_GP2_CLK	I2C2_CLK	I2C2_CLK I2C2_CLK_L	GEN2_I2C_SCL	CC.07	23	248	271	Don't use as GPIO
32	29	GPIO5	High	CAN0_DIN	CAN0_DIN	CAN0_DIN	CAN0_DIN	AA.03	3	248	251
33	30	GND
34	31	GPIO6	High	CAN0_DOUT	CAN0_DOUT	CAN0_DOUT	CAN0_DOUT	AA.02	2	248	250
35	32	GPIO12	Low	GPIO9_CAN1_GPIO0	GPIO9	GPIO9_CAN1_GPIO0_DIMC_CLK	CAN1_EN	BB.01	9	248	257
36	33	GPIO13	Low	CAN1_DOUT	CAN1_DOUT	CAN1_DOUT	CAN1_DOUT	AA.00	0	248	248
37	34	GND
38	35	GPIO19	Low	I2S2_FS_3V3 I2S2_FS	I2S2_FS	I2S2_FS	DAP2_FS	I.02	66	288	354
39	36	GPIO16	Low	UART1_CTS_3V3 UART1_CTS	UART1_CTS	UART1_CTS	UART1_CTS	R.05	141	288	429
40	37	GPIO26	Low	CAN1_DIN	CAN1_DIN	CAN1_DIN	CAN1_DIN	AA.01	1	248	249
41	38	GPIO20	Low	I2S2_SDIN_3V3 I2S2_SDIN	I2S2_DIN	I2S2_SDIN	DAP2_DIN	I.01	65	288	353
42	39	GND
43	40	GPIO21	Low	I2S2_SDOUT_3V3 I2S2_SDOUT	I2S2_DOUT	I2S2_SDOUT	DAP2_DOUT	I.00	64	288	352
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