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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


ST-link printf to console with GDB and semihosting or ITM and ST Link Utility

Just wanted to let everyone know that I was able to get it working eventually.

With C++ projects:
\# include “stdlib.h”
\# include “stdio.h”

extern “C”{
extern void intialise_monitor_handles(void);
}

and then place initialise_monitor_handles first thing in main(), just after HAL_Init();