it's looks like it's no official document for writing IQ file.
you may find(and, probably, already did) some info in rockchip github repos, like a camera_engine_cifisp or camera_engine_rkisp, or kernel itself, but all that info required reverse-engineering.
IQ file support versions(code_xml_parse_version), so you need to be sure to use the same version, as rkisp support (IQ file not backward-compatible, and may not forward-compatible too)