https://peer.asee.org/57147.pdf

Harris and Harris (no relation) have an excellent book on digital design using RISC-V as the domain problem, https://pages.hmc.edu/harris/ddca/ddcarv.html

https://pages.hmc.edu/harris/ddca/

Their books are perfect, and I hope this textbook gets adopted by thousands of colleges. Our RISC-V future is bright, now we need one on SoC bringup and getting your OS running on that SoC.

There is a surprising paucity of material on SoC design which are comprehensive and complete. Application-specific tailored features, Cost, Performance, Area, Power etc. all go into SoC design and yet there does not seem to be a comprehensive resource bringing everything together. Even wikipedia isn't detailed enough - https://en.wikipedia.org/wiki/System_on_a_chip

I know of only two decent books viz. Computer System Design: System-on-Chip by Michael Flynn and Wayne Luk (this is pretty good) and the older ARM System-on-Chip Architecture by Steve Furber.