Debugging serial port of Orin R5

On Xavier, R5 has two serial ports, uartc and uartg.
I would like to ask which serial port resources can be used by R5 on the Orin.
Whether R5 of Orin can output debugging information through the debug serial port of Orin?

Hello, 840764397:
Orin has 2 UART in AON cluster (C and J), per Orin TRM.
Both UART ports share the same pin, and UARTC is debug port.
So there’s no extra UART available for SPE R5 firmware in Orin

Print in R5 firmware should still output to debug port.