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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


Does Debugging a CubeMX Project work out of the box?

Tunisia

Default openocd scripts for ST boards, uses ST-Link as debug probe. So you need to customize your openocd script :

example (to be used as local script)

stm32f4disco+jlink.cfg
# This is an STM32F4 discovery board with a single STM32F407VGT6 chip.
# http://www.st.com/internet/evalboard/product/252419.jsp

source [find interface/jlink.cfg]

transport select jtag

source [find target/stm32f4x.cfg]

# use hardware reset, connect under reset
reset_config srst_only srst_nogate


EDIT : for further information @see this topicQuestion

Regards,
Tarek