How to access and set registers in Beaglebone Black

Hello everyone,
I have been reading about how internal registers of Beaglebone Black can be accessed or changed to achieve some kind of functionality. OS used is AM335 Debian 10.3 . One such use case is to use AM335x registers to change divisor for a UART peripheral to achieve desired baud rate or change frequency of a peripheral.
Is there any process or guide which can be used as reference for accessing registers of AM335x on Beaglebone Black or there are scripts which does the job.