The AM335x Technical Reference Manual is the source of all goodness, but 
the P8 and P9 PDFs here are quite useful:
https://github.com/derekmolloy/boneDeviceTree/tree/master/docs

You may also want to read his (Derek Molloy's) blog, e.g. 
http://derekmolloy.ie/gpios-on-the-beaglebone-black-using-device-tree-overlays/

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