mynewt-mcumgr
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Client side library for use with MCUs
There are use cases where you might want to use mcumgr from an MCU. For example, doing a software update from a host processor to another device connected over a serial link (ex. mcu-tools/mcuboot#1181.) Zephyr could leverage this for zephyrproject-rtos/zephyr#36017
I agree, multi-MCU devices are really common these days.
There's a C implementation of the firmware image management part here: https://github.com/mkiiskila/mynewt_serial_uploader