Questions about SMP

I mainly want to know how threads is scheduled in SMP configuration.
Is there any documents or manuals on SMP configuration?

Didn’t you ask this in Scheduling in smp configuration already? Can you be more specific, what information is still missing from the answers there?

For example, the code related to IPI also involves rescheduling, but I just look at the code and don’t understand it very well. Is there any documents explaining IPI in seL4?