How does ChibiOS operate on Dual Core hardware?

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,

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.