Here is a list of all related documentation pages:

The CHERIoT RTOS memory allocator
Design of the allocator claims model
CHERIoT RTOS architecture
CHERIoT RTOS Board Descriptions
Design document for clocks
Coding Conventions
Debugging
Error Handling
Frequently asked questions
Getting started
Firmware initialisation design
Interrupt handling in CHERIoT RTOS
C/C++ extensions for CHERIoT
Static sealed objects in CHERIoT RTOS
Timeouts in CHERIoT-RTOS
Writing a CHERIoT Device Driver