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SW4STM32 and SW4Linux fully supports the STM32MP1 asymmetric multicore Cortex/A7+M4 MPUs

   With System Workbench for Linux, Embedded Linux on the STM32MP1 family of MPUs from ST was never as simple to build and maintain, even for newcomers in the Linux world. And, if you install System Workbench for Linux in System Workbench for STM32 you can seamlessly develop and debug asymmetric applications running partly on Linux, partly on the Cortex-M4.
You can get more information from the ac6-tools website and download (registration required) various documents highlighting:

System Workbench for STM32


Connect to custom board STM32L053 - STLINK-V2 - SWD

Maybe it was valid before but the connect_assert_srst has been added to reconnect under reset.

So, can you try putting back the original line 71 and give the openocd log (with the -d arg) if it is not working.

Do you connect the reset line to the STM32L476 ?

Rgds,
Laurent