A small script extracted from my undergraduate thesis, which can assist the analyzing of ARM32 firmware.
Offers the following features:

1. Automatically analyzes the program's base address based on the interrupt vector table and rebases the entire IDA database without needing a datasheet.
2. Performs linear function scanning.

Install capstone in your ida python first.

Load your firmware into IDA Pro, choose the right processor and architecture, and use File -> Script File to run ida_analyze.py.