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 two short videos (registration required) highlighting:

System Workbench for STM32

Flashing and debugging of externally compiled program


>> OpenOCD log is below. I think there is a problem with reset_config. I have connected stlink and my board only by 4 wires - VCC, SWDIO, SWDCLK and GND. Could it couse the problem?
Yes, OpenOCD uses the Hardware reset (this is specified within stm32f1x.cfg) ⇒ You need to connect the NRST pin (recommended)

If this is not possible (due to design limitation), then use software reset instead.