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The situation is particularly bad for ARM SoCs since the majority of them are notoriously proprietary - at least with an x86/PC backwards compatibility means a lot has stayed the same even though there have been many differences, and that gives a basic point to start exploring and reverse-engineering (basically you can assume the BIOS is at the top of the address space and the first instruction after reset is at FFFF:FFF0), but with ARM about the only thing that stays the same is the CPU core; the boot sequence, where the peripherals are (and what exactly is available), etc. are all vastly different between makes and models. I'm not saying it can't be done, but it'll need a lot more effort if you don't have the official documentation.

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