Count the number of instruction cycles of each instruction in the assembly generated for ARM

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How can i count the number of instruction cycles for each instruction in the assembly generated for a C/C++ program for ARM? Is there any tool for it? I don't want to look into ARM instruction set each time.

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Modern ARM systems doesn't specify cycles per instructions.

This is from Cortex-A9 TRM

The complexity of the Cortex-A9 processor makes it impossible to calculate precise timing information manually. The timing of an instruction is often affected by other concurrent instructions, memory system activity, and additional events outside the instruction flow.

However you can also look into Cycle Counter for Cortex A8.