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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


Can't program/debug STM32F746ZGT6 from System Workbench

Another error:
>>>
Open On-Chip Debugger 0.9.0-dev-00415-g2d4ae3f-dirty (2015-06-12-17:54)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
adapter speed: 1800 kHz
srst_only separate srst_nogate srst_open_drain connect_deassert_srst
adapter_nsrst_delay: 100
srst_only separate srst_nogate srst_open_drain connect_deassert_srst
Info : clock speed 1800 kHz
Error: read version failed
in procedure ‘init’
in procedure ‘ocd_bouncer’