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Where can I find the docments about how the ARM cortex-A series pipeline works?
Such as the first step of the pipeline do what and the second step of the pipeline do what, and also the Cortex-A series has different pipelines(such as cortex-A7 is different with cortex-A15).
ARM doesn't produce detailed descriptions. The descriptions in the Technical Reference manuals and Optimisation manuals on the ARM site are about as much as you'll get. You might get a more readable version on a site like Anandtech though. Just do a Google search for something like 'ARM A15 pipeline' for instance. Clicking on the 'Images' tab on the search result may also give you some useful site.