AM625-Q1: Configuring the firewall

Part Number: AM625-Q1

I'm trying to configure the firewall, but the documentation is a bit confusing.

The table "List of Region Based Firewalls" found here:

https://software-dl.ti.com/tisci/esd/latest/5_soc_doc/am62x/firewalls.html

looks quite different from table 3-6. Region based firewalls in TRM.

Also in table 3-3, the priv-id for compute_cluster0 is listed as 4, while in the link above, a53 is listed as 1. What is correct?

I would like to restrict access to certain areas of the DDR RAM, as well as to a few peripherals like uart, spi, rti, dma (pktdma for spi) for a53, R5 and M4. What firewall id, region ids, priv-ids should I use? I am planning to configure this from the A53 through sciclient, would that work?

There were very few examples in the SDK, are there any examples elsewhere?

Thanks!