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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 two short videos (registration required) highlighting:

System Workbench for STM32


Can target with CMSIS-DAP interface be programmed/debugged?

Tunisia

The good news is that STM32L151RC is already supported :-)

STM32L151RC

And this is quite enough to use System Workbench to develop for you board.

But I do not know if System Workbench creators have any intension to support any other board not provided by ST.