What pins for I2C & SPI on a AI-64?

I’m trying to design a robot that has compatibility with AI-64.

What pins should I connect to on P8 & P9 to get SPi & I2C?

I’ve looked at this sheet and I find it confusing.

Do I need to pick a ‘mux mode’? What would you pick if you wanted I2C,
& SPI? @jkridner

Use this and you’ll get compatibility with all… https://elinux.org/Beagleboard:BeagleBone_cape_interface_spec


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At www.modbus.pl you can find how to connect I2C and SPI devices to BBAI-64 with C/C++ examples.

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Thanks will investigate, not even thinking about the software yet, still on electro-logical level.