Difference between revisions of "Beagleboard:BeagleBone cape interface spec"

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(Remove BBB BBBWL and BBAI and replace with Black, AI and AI-64)
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! Black !! AI !! AI-64 !! TX !! RX !! Overlays
! Bone bus !! Black !! AI !! AI-64 !! TX !! RX !! Overlays
| /dev/bone/can/0
| /dev/bone/can/0

Revision as of 06:28, 17 July 2022

See the blog post on BeagleBoard.org for an introduction.[1]

This is a list of symlink interfaces based on BeagleBone Cape header pins.[2][3][4]

Below, when mentioning "Black", this is true for all AM3358-based BeagleBone boards. "AI" is AM5729-based. "AI-64" is TDA4VM-based.


BeagleBone Cape header definition
P9   P8
Functions odd even Functions   Functions odd even Functions
USB D+ E1 E2 USB D-   - - - -
5V OUT E3 E4 GND   - - - -
GND 1 2 GND   GND 1 2 GND
3V3 OUT 3 4 3V3 OUT   D M 3 4 D M
5V IN 5 6 5V IN   D M 5 6 D M
5V OUT 7 8 5V OUT   C2r D 7 8 C2t D
PWR BUT 9 10 RESET   D 9 10 D
D U4r 11 12 D   D P0o 11 12 D Q2a P0o
D U4t 13 14 D E1a   D E2b 13 14 D
D 15 16 D E1b   D P0i 15 16 D P0i
D I1c S00 17 18 D I1d S0o   D 17 18 D
C0r D I2c 19 20 C0t D I2d   D E2a 19 20 D M P1
D E0b S0i U2t 21 22 D E0a S0c U2r   D M P1 21 22 D M Q2b
D S01 23 24 C1r D I3c U1t   D M 23 24 D M
D P0 25 26 C1t D I3d U1r   D M 25 26 D
D P0 Q0b 27 28 D P0 S10   D L P1 27 28 D L P1
D E S1i P0 29 30 D P0 S1o   D L P1 29 30 D L P1
D E S1c P0 31 32 ADC VDD   D L 31 32 D L
A4 33 34 ADC GND   D L Q1b 33 34 D E L
A6 35 36 A5   D L Q1a 35 36 D E L
A2 37 38 A3   D L U5t 37 38 D L U5r
A0 39 40 A1   D L P1 39 40 D L P1
D P0 41 42 D Q0a S11 U3t P0   D L P1 41 42 D L P1
GND 43 44 GND   D L P1 43 44 D L P1
GND 45 46 GND   D E L P1 45 46 D E L P1
  • A: ADC
  • C: CAN
  • D: Digital GPIO
  • I: I2C
  • L: LCD
  • P: PRU
  • Q: eQEP
  • S: SPI
  • U: UART


The compatibility layer comes with simple reference nodes for attaching LEDs to any gpio pin. The format followed for these nodes is led_P8_## / led_P9_##. The gpio-leds driver is used by these reference nodes internally and allows users to easily create compatible led nodes in overlays for Black, AI and AI-64. For the definitions, you can see bbai-bone-buses.dtsi#L16 & bbb-bone-buses.dtsi#L16.

Example overlays

Bone LEDs Overlays
Header Pin Overlay
P8 03 BONE-LED_P8_03.dts
P9 11 BONE-LED_P9_11.dts


Bone LEDs
LED Header pin Black AI AI-64
/sys/class/leds/led_P8_03 P8_03 gpio1_6 gpio1_24 gpio0_20
/sys/class/leds/led_P8_04 P8_04 gpio1_7 gpio1_25 gpio0_48
/sys/class/leds/led_P8_05 P8_05 gpio1_2 gpio7_1 gpio0_33
/sys/class/leds/led_P8_06 P8_06 gpio1_3 gpio7_2 gpio0_34
/sys/class/leds/led_P8_07 P8_07 gpio2_2 gpio6_5 gpio0_15
/sys/class/leds/led_P8_08 P8_08 gpio2_3 gpio6_6 gpio0_14
/sys/class/leds/led_P8_09 P8_09 gpio2_5 gpio6_18 gpio0_17
/sys/class/leds/led_P8_10 P8_10 gpio2_4 gpio6_4 gpio0_16
/sys/class/leds/led_P8_11 P8_11 gpio1_13 gpio3_11 gpio0_60
/sys/class/leds/led_P8_12 P8_12 gpio1_12 gpio3_10 gpio0_59
/sys/class/leds/led_P8_13 P8_13 gpio0_23 gpio4_11 gpio0_89
/sys/class/leds/led_P8_14 P8_14 gpio0_26 gpio4_13 gpio0_75
/sys/class/leds/led_P8_15 P8_15 gpio1_15 gpio4_3 gpio0_61
/sys/class/leds/led_P8_16 P8_16 gpio1_14 gpio4_29 gpio0_62
/sys/class/leds/led_P8_17 P8_17 gpio0_27 gpio8_18 gpio0_3
/sys/class/leds/led_P8_18 P8_18 gpio2_1 gpio4_9 gpio0_4
/sys/class/leds/led_P8_19 P8_19 gpio0_22 gpio4_10 gpio0_88
/sys/class/leds/led_P8_20 P8_20 gpio1_31 gpio6_30 gpio0_76
/sys/class/leds/led_P8_21 P8_21 gpio1_30 gpio6_29 gpio0_30
/sys/class/leds/led_P8_22 P8_22 gpio1_5 gpio1_23 gpio0_5
/sys/class/leds/led_P8_23 P8_23 gpio1_4 gpio1_22 gpio0_31
/sys/class/leds/led_P8_24 P8_24 gpio1_1 gpio7_0 gpio0_6
/sys/class/leds/led_P8_25 P8_25 gpio1_0 gpio6_31 gpio0_35
/sys/class/leds/led_P8_26 P8_26 gpio1_29 gpio4_28 gpio0_51
/sys/class/leds/led_P8_27 P8_27 gpio2_22 gpio4_23 gpio0_71
/sys/class/leds/led_P8_28 P8_28 gpio2_24 gpio4_19 gpio0_72
/sys/class/leds/led_P8_29 P8_29 gpio2_23 gpio4_22 gpio0_73
/sys/class/leds/led_P8_30 P8_30 gpio2_25 gpio4_20 gpio0_74
/sys/class/leds/led_P8_31 P8_31 gpio0_10 gpio8_14 gpio0_32
/sys/class/leds/led_P8_32 P8_32 gpio0_11 gpio8_15 gpio0_26
/sys/class/leds/led_P8_33 P8_33 gpio0_9 gpio8_13 gpio0_25
/sys/class/leds/led_P8_34 P8_34 gpio2_17 gpio8_11 gpio0_7
/sys/class/leds/led_P8_35 P8_35 gpio0_8 gpio8_12 gpio0_24
/sys/class/leds/led_P8_36 P8_36 gpio2_16 gpio8_10 gpio0_8
/sys/class/leds/led_P8_37 P8_37 gpio2_14 gpio8_8 gpio0_106
/sys/class/leds/led_P8_38 P8_38 gpio2_15 gpio8_9 gpio0_105
/sys/class/leds/led_P8_39 P8_39 gpio2_12 gpio8_6 gpio0_69
/sys/class/leds/led_P8_40 P8_40 gpio2_13 gpio8_7 gpio0_70
/sys/class/leds/led_P8_41 P8_41 gpio2_10 gpio8_4 gpio0_67
/sys/class/leds/led_P8_42 P8_42 gpio2_11 gpio8_5 gpio0_68
/sys/class/leds/led_P8_43 P8_43 gpio2_8 gpio8_2 gpio0_65
/sys/class/leds/led_P8_44 P8_44 gpio2_9 gpio8_3 gpio0_66
/sys/class/leds/led_P8_45 P8_45 gpio2_6 gpio8_0 gpio0_79
/sys/class/leds/led_P8_46 P8_46 gpio2_7 gpio8_1 gpio0_80
/sys/class/leds/led_P9_11 P9_11 gpio0_30 gpio8_17 gpio0_1
/sys/class/leds/led_P9_12 P9_12 gpio1_28 gpio5_0 gpio0_45
/sys/class/leds/led_P9_13 P9_13 gpio0_31 gpio6_12 gpio0_2
/sys/class/leds/led_P9_14 P9_14 gpio1_18 gpio4_25 gpio0_93
/sys/class/leds/led_P9_15 P9_15 gpio1_16 gpio3_12 gpio0_47
/sys/class/leds/led_P9_16 P9_16 gpio1_19 gpio4_26 gpio0_94
/sys/class/leds/led_P9_17 P9_17 gpio0_5 gpio7_17 gpio0_28
/sys/class/leds/led_P9_18 P9_18 gpio0_4 gpio7_16 gpio0_40
/sys/class/leds/led_P9_19 P9_19 gpio0_13 gpio7_3 gpio0_78
/sys/class/leds/led_P9_20 P9_20 gpio0_12 gpio7_4 gpio0_77
/sys/class/leds/led_P9_21 P9_21 gpio0_3 gpio3_3 gpio0_39
/sys/class/leds/led_P9_22 P9_22 gpio0_2 gpio6_19 gpio0_38
/sys/class/leds/led_P9_23 P9_23 gpio1_17 gpio7_11 gpio0_10
/sys/class/leds/led_P9_24 P9_24 gpio0_15 gpio6_15 gpio0_13
/sys/class/leds/led_P9_25 P9_25 gpio3_21 gpio6_17 gpio0_127
/sys/class/leds/led_P9_26 P9_26 gpio0_14 gpio6_14 gpio0_12
/sys/class/leds/led_P9_27 P9_27 gpio3_19 gpio4_15 gpio0_46
/sys/class/leds/led_P9_28 P9_28 gpio3_17 gpio4_17 gpio1_11
/sys/class/leds/led_P9_29 P9_29 gpio3_15 gpio5_11 gpio0_53
/sys/class/leds/led_P9_30 P9_30 gpio3_16 gpio5_12 gpio0_44
/sys/class/leds/led_P9_31 P9_31 gpio3_14 gpio5_10 gpio0_52
/sys/class/leds/led_P9_33 P9_33 ❌ ❌ gpio0_50
/sys/class/leds/led_P9_35 P9_35 ❌ ❌ gpio0_55
/sys/class/leds/led_P9_36 P9_36 ❌ ❌ gpio0_56
/sys/class/leds/led_P9_37 P9_37 ❌ ❌ gpio0_57
/sys/class/leds/led_P9_38 P9_38 ❌ ❌ gpio0_58
/sys/class/leds/led_P9_39 P9_39 ❌ ❌ gpio0_54
/sys/class/leds/led_P9_40 P9_40 ❌ ❌ gpio0_81
/sys/class/leds/led_P9_41 P9_41 gpio0_20 gpio6_20 gpio1_0
/sys/class/leds/led_P9_91 P9_91 gpio3_20 ❌ ❌
/sys/class/leds/led_P9_42 P9_42 gpio0_7 gpio4_18 gpio0_123
/sys/class/leds/led_P9_92 P9_92 gpio3_18 ❌ ❌
/sys/class/leds/led_A15 A15 gpio0_19 ❌ ❌


Compatibility layer provides simple I2C bone bus nodes for creating compatible overlays for Black, AI and AI-64. The format followed for these nodes is bone_i2c_#. For the definitions, you can see bbai-bone-buses.dtsi#L388 & bbb-bone-buses.dtsi#L403.

Bone bus I2C
SYSFS DT symbol Black AI AI-64 SCL SDA Overlay
/dev/bone/i2c/0 bone_i2c_0 I2C0 I2C1 TBD ❌ (On-board)
/dev/bone/i2c/1 bone_i2c_1 I2C1 I2C5 MAIN_I2C6 P9.17 P9.18 BONE-I2C1.dts
/dev/bone/i2c/2 bone_i2c_2 I2C2 I2C4 MAIN_I2C3 P9.19 P9.20 BONE-I2C2.dts
/dev/bone/i2c/2a bone_i2c_2a I2C2 N/A TBD P9.21 P9.22 BONE-I2C2A.dts
/dev/bone/i2c/3 bone_i2c_3 I2C1 I2C3 MAIN_I2C4 P9.24 P9.26 BONE-I2C3.dts


SPI bone bus nodes allow creating compatible overlays for Black, AI and AI-64. For the definitions, you can see bbai-bone-buses.dtsi#L406 & bbb-bone-buses.dtsi#L423.

Bone bus SPI
Bone bus DT symbol Black AI AI-64 SDO SDI CLK CS Overlay
/dev/bone/spi/0.x bone_spi_0 SPI0 SPI2 MAIN_SPI6 P9.18 P9.21 P9.22
  • P9.17 (CS0)
  • P9.23 (CS1 - BBAI and BBAI64 only)
/dev/bone/spi/1.x bone_spi_1 SPI1 SPI3 MAIN_SPI7 P9.30 P9.29 P9.31
  • P9.28 (CS0)
  • P9.42 (CS1)


UART bone bus nodes allow creating compatible overlays for Black, AI and AI-64. For the definitions, you can see bbai-bone-buses.dtsi#L367 & bbb-bone-buses.dtsi#L382.

Bone bus UART
Bone bus Black AI AI-64 TX RX RTSn CTSn Overlays
/dev/bone/uart/0 UART0 UART1 MAIN_UART0 ❌ (console debug header pins)
/dev/bone/uart/1 UART1 UART10 MAIN_UART2 P9.24 P9.26
  • P9.19
  • P8.4 (N/A on AM3358)
  • P9.20
  • P8.3 (N/A on AM3358)
/dev/bone/uart/2 UART2 UART3 - P9.21 P9.22
  • P8.38 (N/A on AM5729)
  • P8.37 (N/A on AM5729)
/dev/bone/uart/3 UART3 - - P9.42 ❌ - - BONE-UART3.dts
/dev/bone/uart/4 UART4 UART5 MAIN_UART0 (console) P9.13 P9.11
  • P8.33 (N/A on AM5729)
  • P8.6 (N/A on AM3358)
  • P8.35 (N/A on AM5729)
  • P8.5 (N/A on AM3358)
/dev/bone/uart/5 UART5 UART8 MAIN_UART5 P8.37 P8.38 P8.32 P8.31 BONE-UART5.dts


CAN bone bus nodes allow creating compatible overlays for Black, AI and AI-64. For the definitions, you can see bbai-bone-buses.dtsi#L440 & bbb-bone-buses.dtsi#L457.

Bone bus CAN
Bone bus Black AI AI-64 TX RX Overlays
/dev/bone/can/0 CAN0 - TBD P9.20 P9.19 BONE-CAN0.dts
/dev/bone/can/1 CAN1 CAN2 TBD P9.26 P9.24 BONE-CAN1.dts
/dev/bone/can/2 - CAN1 (rev A2 and later) TBD P8.8 P8.7


  • TODO: We need a udev rule to make sure the ADC shows up at /dev/bone/adc! There's nothing for sure that IIO devices will show up in the same place.
  • TODO: I think we can also create symlinks for each channel based on which device is there, such that we can do /dev/bone/adc/Px_y
Bone ADC
Black AI AI-64 overlay
Internal External (STMPE811) TBD BONE-ADC.dts
Index Header pin Black/AI-64 AI
0 P9_39 in_voltage0_raw in_voltage0_raw
1 P9_40 in_voltage1_raw in_voltage1_raw
2 P9_37 in_voltage2_raw in_voltage3_raw
3 P9_38 in_voltage3_raw in_voltage2_raw
4 P9_33 in_voltage4_raw in_voltage7_raw
5 P9_36 in_voltage5_raw in_voltage6_raw
6 P9_35 in_voltage6_raw in_voltage4_raw


PWM bone bus nodes allow creating compatible overlays for Black, AI and AI-64. For the definitions, you can see bbai-bone-buses.dtsi#L415 & bbb-bone-buses.dtsi#L432

Bone bus PWM
Bone bus Black AI AI-64 A B Overlay
/dev/bone/pwm/0 PWM0 - PWM1 P9.22 P9.21 BONE-PWM0.dts
/dev/bone/pwm/1 PWM1 PWM3 PWM2 P9.14 P9.16 BONE-PWM1.dts
/dev/bone/pwm/2 PWM2 PWM2 PWM0 P8.19 P8.13 BONE-PWM2.dts


TIMER PWM bone bus uses ti,omap-dmtimer-pwm driver, and timer nodes that allow creating compatible overlays for Black, AI and AI-64. For the timer node definitions, you can see bbai-bone-buses.dtsi#L449 & bbb-bone-buses.dtsi#L466.

Bone bus Header pin Black AI overlay
/sys/bus/platform/devices/bone_timer_pwm_0/ P8.10 timer6 timer10 BONE-TIMER_PWM_0.dts
/sys/bus/platform/devices/bone_timer_pwm_1/ P8.07 timer4 timer11 BONE-TIMER_PWM_1.dts
/sys/bus/platform/devices/bone_timer_pwm_2/ P8.08 timer7 timer12 BONE-TIMER_PWM_2.dts
/sys/bus/platform/devices/bone_timer_pwm_3/ P9.21 - timer13 BONE-TIMER_PWM_3.dts
/sys/bus/platform/devices/bone_timer_pwm_4/ P8.09 timer5 timer14 BONE-TIMER_PWM_4.dts
/sys/bus/platform/devices/bone_timer_pwm_5/ P9.22 - timer15 BONE-TIMER_PWM_5.dts


  1. TODO: This doesn't include any abstraction yet.
Black eCAP PWMs
Bone bus Header pin peripheral overlay
/sys/bus/platform/drivers/ecap/48302100.ecap P9.42 eCAP0_in_PWM0_out BBB-ECAP0.dts
/sys/bus/platform/drivers/ecap/48304100.ecap P9.28 eCAP2_in_PWM2_out BBB-ECAP2.dts
Bone bus Header pin peripheral overlay
/sys/bus/platform/drivers/ecap/4843e100.ecap P8.15 eCAP1_in_PWM1_out BBAI-ECAP1.dts
/sys/bus/platform/drivers/ecap/48440100.ecap P8.14 eCAP2_in_PWM2_out BBAI-ECAP2.dts
/sys/bus/platform/drivers/ecap/48440100.ecap P8.20 eCAP2_in_PWM2_out BBAI-ECAP2A.dts
/sys/bus/platform/drivers/ecap/48442100.ecap P8.04 eCAP3_in_PWM3_out BBAI-ECAP3.dts
/sys/bus/platform/drivers/ecap/48442100.ecap P8.26 eCAP3_in_PWM3_out BBAI-ECAP3A.dts


Bone eMMC
Black AI overlay
Header pin Description
P8.3 DAT6
P8.4 DAT7
P8.5 DAT2
P8.6 DAT3
P8.20 CMD
P8.21 CLK
P8.22 DAT5
P8.23 DAT4
P8.24 DAT1
P8.25 DAT0


16bit LCD interface
Black AI overlay
lcdc dss
Header pin Description
P8_45 lcd_data0
P8_46 lcd_data1
P8_43 lcd_data2
P8_44 lcd_data3
P8_41 lcd_data4
P8_42 lcd_data5
P8_39 lcd_data6
P8_40 lcd_data7
P8_37 lcd_data8
P8_38 lcd_data9
P8_36 lcd_data10
P8_34 lcd_data11
P8_35 lcd_data12
P8_33 lcd_data13
P8_31 lcd_data14
P8_32 lcd_data15
P8_27 lcd_vsync
P8_29 lcd_hsync
P8_28 lcd_pclk
P8_30 lcd_ac_bias_en


On BeagleBone's without an eQEP on specific pins, consider using the PRU to perform a software counter function.

Bone eQEP
Bone bus Black AI AI-64 A B strobe index overlay
/dev/bone/counter/0 eQEP0 eQEP2 eQEP0 P9.42 P9.27
  • Black/AI-64: P9.25
  • AI: P8.06
  • Black/AI-64: P9.41
  • AI: P8.05
/dev/bone/counter/1 eQEP1 eQEP0 eQEP1 P8.35 P8.33
  • Black/AI-64: P8.32
  • AI: P9.21
  • Black/AI-64: P8.31
  • AI: ‒
/dev/bone/counter/2 eQEP2 eQEP1 P8.12 P8.22
  • Black: P8.15
  • AI: P8.18
  • Black: P8.16
  • AI: P9.15


Bone McASP0
Black AI overlay
Header pin Description
P9.12 aclkr
P9.25 ahclkx
P9.27 fsr
  • Black: axr2
  • AI: axr9
P9.29 fsx
  • Black: axr0
  • AI: axr10
P9.31 aclkx


The overlay situation for PRUs is a bit more complex than with other peripherals. The mechanism for loading, starting and stopping the PRUs can go through either UIO or RemoteProc.

  • /dev/remoteproc/prussX-coreY (AM3358 X = "", other x = "1|2")

Header Pin Black AI
P8.15 pr1_ecap0 pr1_ecap0
P8.32 - pr2_ecap0
P9.42 pr1_ecap0 -
PRU1 UART0 P8_31 P8_33 P8_34 P8_35
PRU2 UART0 P8_43 P8_44 P8_45 P8_46
Bone PRU
Header Pin Black AI
P8.03 - pr2_pru0 10
P8.04 - pr2_pru0 11
P8.05 - pr2_pru0 06
P8.06 - pr2_pru0 07
P8.07 - pr2_pru1 16
P8.08 - pr2_pru0 20
P8.09 - pr2_pru1 06
P8.10 - pr2_pru1 15
P8.11 pr1_pru0 15 (Out) pr1_pru0 04
P8.12 pr1_pru0 14 (Out) pr1_pru0 03
P8.13 - pr1_pru1 07
P8.14 - pr1_pru1 09
P8.15 pr1_pru0 15 (In) pr1_pru1 16
P8.16 pr1_pru0 14 (In) pr1_pru1 18
P8.17 - pr2_pru0 15
P8.18 - pr1_pru1 05
P8.19 - pr1_pru1 06
P8.20 - pr2_pru0 03
P8.21 - pr2_pru0 02
P8.22 - pr2_pru0 09
P8.23 - pr2_pru0 08
P8.24 - pr2_pru0 05
P8.25 - pr2_pru0 04
P8.26 - pr1_pru1 17
P8.27 - pr2_pru1 17
P8.28 - pr2_pru0 17
P8.29 - pr2_pru0 18
P8.30 - pr2_pru0 19
P8.31 - pr2_pru0 11
P8.32 - pr2_pru1 00
P8.33 - pr2_pru0 10
P8.34 - pr2_pru0 08
P8.35 - pr2_pru0 09
P8.36 - pr2_pru0 07
P8.37 - pr2_pru0 05
P8.38 - pr2_pru0 06
P8.39 - pr2_pru0 03
P8.40 - pr2_pru0 04
P8.41 - pr2_pru0 01
P8.42 - pr2_pru0 02
P8.43 - pr2_pru1 20
P8.44 - pr2_pru0 00
P8.45 - pr2_pru1 18
P8.46 - pr2_pru1 19
P9.11 - pr2_pru0 14
P9.13 - pr2_pru0 15
P9.14 - pr1_pru1 14
P9.15 - pr1_pru0 5
P9.16 - pr1_pru1 15
P9.17 - pr2_pru1 09
P9.18 - pr2_pru1 08
P9.19 - pr1_pru1 02
P9.20 - pr1_pru1 01
P9.24 pr1_pru0 16 (In) -
P9.25 pr1_pru0 07 pr2_pru1 05
P9.26 pr1_pru1 16 (In) pr1_pru0 17
P9.27 pr1_pru0 05 pr1_pru1 11
P9.28 pr1_pru0 03 pr2_pru1 13
P9.29 pr1_pru0 01 pr2_pru1 11
P9.30 pr1_pru0 02 pr2_pru1 12
P9.31 pr1_pru0 00 pr2_pru1 10
P9.41 pr1_pru0 06 pr1_pru1 03
P9.42 pr1_pru0 04 pr1_pru1 10


For each of the pins with a GPIO, there should be a symlink that comes from the names


The methodology for applied in the kernel and software images to expose the software interfaces is to be documented here. The most fundamental elements are the device tree entries, including overlays, and udev rules.

Device Trees

udev rules [5]


#From: https://github.com/mvduin/py-uio/blob/master/etc/udev/rules.d/10-of-symlink.rules
# allow declaring a symlink for a device in DT
ATTR{device/of_node/symlink}!="", \

	TAG+="systemd", ENV{SYSTEMD_ALIAS}+="/dev/%E{OF_SYMLINK}"


#Also courtesy of mvduin
# create symlinks for gpios exported to sysfs by DT
SUBSYSTEM=="gpio", ACTION=="add", TEST=="value", ATTR{label}!="sysfs", \
        RUN+="/bin/mkdir -p /dev/bone/gpio", \
        RUN+="/bin/ln -sT '/sys/class/gpio/%k' /dev/bone/gpio/%s{label}"


TODO: The steps used to verify all of these configurations is to be documented here. It will serve to document what has been tested, how to reproduce the configurations, and how to verify each major triannual release. All faults will be documented in the issue tracker.