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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


Target connection fails with "Cannot identify target as a stm32x" (although STM32L053 works)

First, update the SW4STM32 software with the menu Help => Check For Updates
You are in v1.8.0 from install, please, update the plugins to v1.11.0 (as of today).

The openocd tells you that the voltage is around 0 volts so i suspect you didn’t connect the VDD of the STM32 to the input of STLink.

Also, did you connect the RST line output of STLink to Nrst of STM32 ?

Rgds,
Laurent