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The ARM Architecture Reference Manual (or the “ARM ARM” for short) is the official ARM architecture documentation produced by ARM Ltd. In the past there was a single “current” ARM ARM which described all past and present architecture versions. However, as the architecture has grown and evolved, there are now several “current” versions of the document, each targeting a different variant of the architecture.
For architecture versions that ARM do not count as obsolete, suitable versions of the ARM ARM can be downloaded directly from ARM’s infocenter website (Note that registration may be required in order to download some of the documents). For RISC OS 5, the ARMv7-AR reference manual is the main one to look for.
For older versions of the architecture, old copies of the ARM ARM or processor reference manuals (which typically contained full instruction set details) can often be found on third-party websites such as here