How can I build px4 (and px4io) on my own PCB hardware

PX4 Autopilot
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I am building a PCB board that have two MCUs STM32, one STM32 for main PX4 firmware, and one lighter STM32 for coprocessor (I assume to be px4io)

My question is, I follow the documentation on Building PX4 Software | PX4 Guide (main) , but that’s only for the px4 firmware on the main STM32, correct? How should I build the firmware for the co-processor?

My other question is, how do I flash those firmwares to the MCUs. What are the best ways to do it?

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