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.

You can look at the AM335x Technical Reference Manual if you already have not.

https://www.google.com/url?sa=t&source=web&rct=j&url=https://www.ti.com/lit/ug/spruh73q/spruh73q.pdf&ved=2ahUKEwjhtfaGu8T9AhV0pOkKHZCZBRwQFnoECA4QAQ&usg=AOvVaw3QziFF4b-THpx1J5kOVJNQ