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How to understand AArch64 register 'Operation' column for 'Direct access to internal memory' in Cortex -A53?

I'm reading "ARM® Cortex®-A53 MPCore Processor Technical Reference Manual".

And, in 6.7 Direct access to internal memory part (P.357), there is a problem to understand what is the meaning of AArch64 register 'Operation' part.

I attach a picture of 'Table 6-4 AAarch64 registers used to access internal memory' in 'ARM® Cortex®-A53 MPCore Processor Technical Reference Manual' below.

In the table (Table 6-4 AAarch64 registers used to access internal memory), For example, 'Operation' column of Data Register 0 (1st row) is "MRS <Xd>,

S3_3_c15_c0_0". I'm wondering how to understand the second operand (S3_3_c15_c0_0) of the MRS in the Operation column.

I'm guessing that the operand is separated by under-bars('_') and each of them has its own meaning.

What exactly do these (S3, 3, c15, c0 and 0) represent?

Please give me some advices which how to approach that kind of operations in ARM architecture.

Thanks!