Even the open source friendly Raspberry Pi relies on proprietary blobs and proprietary firmware, with vast parts of the documentation only being available to system integrators (meaning: not you) under an NDA.
Theirs is a Broadcom chip, but my understanding is that the scenario is pretty much the same for other ARM vendors. If the chip is anything more complicated than your average 8-bit micro-controller, expect it to be running some kind of "system" which is, of course, closed source.