Mark Goddard ee68bc385f Improve developer documentation for Bifrost
This change fills out the Bifrost developer documentation and makes a
few corrections.

Change-Id: I14a6eca58c440677d5de638cbc677e9ec05738af
Closes-Bug: #1661013
Co-Authored-By: Sayantani Goswami <sayantani.goswami@intel.com>
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