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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


Openocd does not work as expected

Works for me also.

I just came to virtually the same conslusion as the proceedure in the post above.
I’m using a Nucleo-64 board with the -303RE chip...
If you are getting the error that looks like this:
>>>>>
...
adapter speed: 950 kHz
Error: timed out while waiting for target halted
TARGET: STM32F303RETx.cpu - Not halted
in procedure ‘program’
in procedure ‘reset’ called at file “embedded:startup.tcl”, line 478
in procedure ‘ocd_bouncer’

    • Unable to reset target **

shutdown command invoked
>>>>>

You can fix it by:
Opening the Run->”Debug Configuration” menu...

In the tab “Debugger”, set the radio button of “Configuration Script” to “Auto Generation” (this works in my case), and press the button “Show Generator Options...”. There, under “Mode Setup” change the “Reset Mode” entry from “Connect Under Reset” (in my case) to “Software System Reset”. This appears to let the connection process halt the processor if it is still running from a previous activity and get on with starting the code download.