How does algorand calculate block hash?

Is there any documentation on how algorand computes block hashes?

Usually on Algorand, everything is serialized using a canonical version of msgpack/messagepack (canonical means that zero values are omitted and keys are alphabetically sorted).
Then, hashing is done by applying SHA-512/256 on

prefix || msgpack_of_data

where || represents concatenation
and prefix is a prefix that is specified on specs/ at master · algorandfoundation/specs · GitHub / go-algorand/hash.go at 2bc55c06f4dacf247b93a15f47530f57b4925d28 · algorand/go-algorand · GitHub

You can find details of Block serialization there: