The Sweetman book on MIPS is one of the best to learn OS internals from and how exactly it interfaces to the hardware.

Complementing that is the excellent Unix Systems for Modern Architectures: Symmetric Multiprocessing and Caching for Kernel Programmers by Curt Schimmel.

Complementing the Furber book is the excellent Computer System Design: System-on-Chip by Michael Flynn and Wayne Luk.

And of course the classic ARM System Developer's Guide: Designing and Optimizing System Software by Andrew Sloss et al. is also a must read.