Rotary encoder connection on jetson TX2 J21 port, to read data from encoder in real time

Need to connect rotary Encoder on Jetson TX2, to read data from Encoder.
On Respberry pi , the connection is established through GPIO17 and GPIO18(PWM0), but on J21 port on TX2, there is no PWM pin.
My purpose is to read the circular movements data from encoder in real time, using GPIO pins.

Hi,
There is a topic about connecting it to Jetson Nano:
Rotary Encoder - GPIO interrupts failing to fire

Please take a look and check if it can be applied to connecting to TX2.

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