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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


STM32F072RBT6 not properly modeled in OPENOCD? 64K instead of 128K

I have a board with STM32F072CB, for the moment I use the OpenOCD script from Discovery board STM32F072-Discovery (same MCU as Nucleo)

In my OpenOCD log the flash size is correct
Debug: 376 692 target.c:2203 target_read_u16(): address: 0x1ffff7cc, value: 0x0080
Info : 377 692 stm32f1x.c:996 stm32x_probe(): flash size = 128kbytes

Could you check this lines:
Debug: 127 94 command.c:145 script_debug(): command - ocd_command ocd_command type ocd_flash bank STM32F072RBT6.flash stm32f1x 0x08000000 0 0 0 STM32F072RBT6.cpu
Debug: 128 94 command.c:145 script_debug(): command - ocd_flash ocd_flash bank STM32F072RBT6.flash stm32f1x 0x08000000 0 0 0 STM32F072RBT6.cpu

Check the project properties -> Target tab. In my case is
Target:
Series: STM32F0
Mcu: STM32F072RBTx
Board: STM32F072B-DISCO

Project Properties > C/C++ Build > Settings > Target (tab with AC logo)