How does ChibiOS operate on Dual Core hardware?

ArduCopter
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1

Since the new Ardupilot support hardware such as Pixhawk4, and CUAV V5 has two onboard processors (M7 and M4), I’m wondering how ChibiOS works on these dual-core boards.

Is there documentation that I can read?

Best regards,

2

Those are not dual core Symetric Multi Processor (SMP) boards.
Those boards have two distinct processors, each running different Firmware.

True SMP is not (yet) supported by ArduPilot.