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

Use pvPortMalloc() or malloc()?

I am using FREERTOS. For the code I add to an STM32CubeMX created project is it preferable to use pvPortMalloc() or malloc()? Would there be any advantage to abandoning the use of malloc() in favor of exclusively using pvPortMalloc()?

Yes, you should use pvPortMalloc instead of malloc, as malloc is not protected against mulltitask parallel use...

Fo pvPortMalloc, you can choose from various implementations in the FreeRTOS source code (heap1.c to heap4.c); look at the comments in front of the files to choose the one that fits best your needs.

Bernard (Ac6)