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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


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Dear Dave,
You are using the latest version : it should be good.
I compiled and launched the debug successfully for the same project = DAC_SignalsGeneration for the STM32L476RG-Nucleo. Here is the way I used :
1 - Launch SW4STM32 and I select the workspace (inside the HAL) :
...\STM32Cube_FW_L4_V1.5.0\Projects\STM32L476RG-Nucleo\Examples\DAC\DAC_SignalsGen
eration\SW4STM32
2 - Right-click in the Project Explorer window >> Import >> General >> Existing Projects into Workspace >> Next >> Browse >> Select the project folder = STM32L476RG_NUCLEO >> Finish
3 - Right-click on the project >> Properties >> C/C++ General >> Indexer >> Enable project specific settings >> Remove the Index unused headers >> Apply >> OK
4 - Right-click on the project >> Properties >> C/C++ Build >> Settings >> Tool Settings tab >>MCU GCC Compiler >> Dialect >> ISO C99 >> Apply >> OK
5 - Right-click on the project >> Properties >> C/C++ Build >> Enable parallel build >> Apply >> OK
6 - Clean then Build
7 - Launch the Debug session as shown in the snapshot