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"There's another big piece of news today. We've been leaning (gently and charmingly) on Broadcom, who make BCM2835, the SoC at the heart of the Raspberry Pi, to produce an abbreviated datasheet describing the ARM peripherals in the chip. If you're a casual user, this won't be of much interest to you, but if you're wanting to port your own operating system or just want to understand our Linux kernel sources, this is the document for you."
BCM2835 contains the following peripherals which may safely be accessed by the ARM:
The purpose of this datasheet is to provide documentation for these peripherals in sufficient detail to allow a developer to port an operating system to BCM2835.
There are a number of peripherals which are intended to be controlled by the GPU. These are omitted from this datasheet. Accessing these peripherals from the ARM is not recommended. "