ARM MCU
ARM assembly:
Introducing ARM assembly language: http://www.toves.org/books/arm/
http://www.peter-cockerell.net/aalp/html/frames.html
http://www.coranac.com/tonc/text/asm.htm
http://infocenter.arm.com/help/topic/com.arm.doc.qrc0001l/QRC0001_UAL.pdf
ARM hardware
Visual ARM
IMU tracking using dcm