The most comprehensive grammatical resource for Cicipu is Stuart McGill's PhD thesis Gender and person agreement in Cicipu discourse. This contains a sketch phonology and grammar as well as details of the gender (i.e. noun class) and person agreement systems.
The Cicipu dictionary (edited by Stuart McGill and Markus Yabani) contains glosses and example sentences in both English and Hausa.
Additional published and unpublished works on Cicipu are listed below, along with more general works that either mention Cicipu or else deal with Kainji languages in general.
Most of these links are to external websites, in particular the SIL website and Roger Blench's - the latter especially for a more comprehensive bibliography on Kainji languages.
See also Becky Paterson's huge Kainji bibliography, a collection of general resources linked to the Kainji language area (linguistic and non-linguistic).
The anthropologist A. B. Mathews spent two months living with the Acipu in 1926 and wrote up a report, which has never been published but can be found in the National Archives at Kaduna. There is a digitised copy available for download here
Several of the articles below are about the sword and spears of Kisra, relics housed in the king's palace on Korisino. Kisra is a legendary magician-king who is said to have fled to Africa after losing a war against Mohammed. His son or grandson is said to have been the first king of the Acipu. Several other tribes in Nigeria have similar origin stories.
The remaining books in the list below (CAPRO 1995, Gunn and Conant 1960, Swank 1977, Temple 1922) each have a section on Cicipu, but Temple's and Swank's accounts are very brief, and the other two rely heavily on Mathews (1926).
For Cicipu history see especially the edited volume Studies in the history of the people of Zuru Emirate (Augi and Lawal 1990), in particular Lawal (1990) and Augi (1990), also Usman (1981).