The documentation for ftrace can be found in the kernel Documentation directory:
Documentation/trace/ftrace.txt
The documentation for the trace event subsystem can also be found in the kernel Documentation directory:
Documentation/trace/events.txt
There is a nice series of articles on using ftrace and trace-cmd at LWN:
There's more detailed documentation kernelshark usage here: KernelShark
An amusing yet useful README (a tracing mini-HOWTO) can be found in /sys/kernel/debug/tracing/README.