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

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There no need to modify the startup file, the only modif is in linker file :
instead of FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 1024K, you should have FLASH (rx) : ORIGIN = 0x00200000, LENGTH = 1024K

Edit :
The only problem is that openocd included in the current version of SystemWorkbench cannot program the ITCM Flash. The only solution (for now) is to use ST-Link Utility version 3.9 (will be released by the end of next week) to program your MCU ‘s ITCM Flash.

You have to set the Boot address option bytes (possible through ST-Link Utility > Option Bytes)

Best Regards,