Honestly, just reading existing assembly to get a feel for how it works, and then violently googling everything that goes wrong. The ARM Architecture Reference Manual (aka "The ARM ARM") ended up being really helpful for looking up what specific instructions do and how they're called. Another really helpful tool is writing something in C/C++, and compiling with "gcc -O1 -S file.c" to see the assembly gcc generated. It helps to mess around a lot with smaller programs in gdb or lldb.
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Honestly, just reading existing assembly to get a feel for how it works, and then violently googling everything that goes wrong. The ARM Architecture Reference Manual (aka "The ARM ARM") ended up being really helpful for looking up what specific instructions do and how they're called. Another really helpful tool is writing something in C/C++, and compiling with "gcc -O1 -S file.c" to see the assembly gcc generated. It helps to mess around a lot with smaller programs in gdb or lldb.