S4SK Linux Flash loader Clarity

Hi

I was hoping to clarity some doubts over the Linux procedure for flashing the boot loader to the S4SK.

I have already built the Yocto BSP and I am ready to follow the steps for "How to flash/update the loader" (as specified https://elinux.org/R-Car/Boards/S4SK#How_to_flash.2Fupdate_the_loader).

I have previous experience flashing the files before for the Renesas R-Car S3 SK using Linux (Ubuntu) and minicom (as specified https://elinux.org/R-Car/Boards/H3SK#Flashing_firmware). These steps look similar to the S4SK Windows procedure, and my understanding is the \renesas-bsp-rom-writer\board\s4_sk\windows\yocto_writer.ttl automates most of the steps here: https://elinux.org/R-Car/Boards/H3SK#Flashing_firmware, is that correct? 

What is not clear from the procedure (https://elinux.org/R-Car/Boards/S4SK#Linux.28Ubuntu.29_User) is how to configure the USB Serial Cable and the configuration for the SW3 switches are for following the Linux procedure. 

Can I confirm the procedure for flashing with Linux(Ubuntu) (https://elinux.org/R-Car/Boards/S4SK#Linux.28Ubuntu.29_User) is as follows:

1. Connect the Linux (Ubuntu) PC to the S4SK(CN13) with a USB serial cable
2. SW3 : Set to SCIF Download(DL) mode
3. git clone https://github.com/morimoto/renesas-bsp-rom-writer
4. $ ${renesas-bsp-rom-writer}/script/tool_install.ubuntu
5. Download ICUMX loader and copy the built binaries(u-boot-elf-s4sk.srec, tee-s4sk.srec and bl31-s4sk.srec)
6. $ cd ${PATH}/ICUMX_Loader_and_Flashwriter_Package_for_R-Car_S4_Starter_Kit_SDKv3.16.xx/

Then run $ ${renesas-bsp-rom-writer}/board/s4_sk/linux/yocto_writer for bootloader? The procedure (https://elinux.org/R-Car/Boards/S4SK#Linux.28Ubuntu.29_User) suggests running $ ${renesas-bsp-rom-writer}/board/s4_sk/linux/sdk_writer which I think is not correct for what I'm doing here, could this please be clarified? The documentation does not clarify the difference between the sdk_writer and yocto_writer for flashing the loader.

Thanks