Header file required for write a small kernel for BeagleBoneBlack(AM3358BZCZ100)


I just bought a small beaglebone black, and now want to write my own small kernel on it.
But, to fetch the required peripherals, I need a header file(for C language) which gives me addresses of all the registers.

Is there any such header file exist already?
CPU is AM3358BZCZ100 .

Thanks & Regards,

use am335x tecnical reference manual spruh73j (page 168) for complete memory map of the device.