Manual configure dma controller

I am trying to configure the DMA controller manually using registers and technical documentation
I am using rk3568 and SGRF registers appear in the documentation. In one place, there is even an instruction to refer to the SGRF chapter to search for registers. However, a search of the documentation did not yield results and I did not find any information about this module. Can you help me with information about this module and how to configure the DMA module to transfer from memory to memory?

Are you using bare metal app?

yes, bare metal
I’m trying to get into the work of dma, but it’s still very difficult without some practical example or instructions