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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


CUBE error for STM32F476RG causes these processors to not work

If you modify the file I mentioned in the CUBE, it will modify the file you mentioned (the linker file).

My initial move was to fix the linker file, but every time I used CUBE it would reset it.

By modifying the families.xml file CUBE will product the correct linker file.

-Matt