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

Running bootloader + application solution

In the debug configuration startup tab, set the initial program counter to the initial PC from either the bootloader or the application.

The initial PC is stored in the second word of the binary image.

arm-none-eabi-objcopy -O binary boot.elf boot.bin

xxd -eg4 boot.bin | head