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

STLink Downloading Issue



have you tried to connect under reset (-c SWD UR)

-c SWD UR -P ${workspace_loc}${config_name:{project_name}}\${project_name}.bin 0x08000000 -Rst

>> My opinion is ST-LINK_CLI.exe isn’t proper for .bin file downloading? If it is true how can I build .hex file?
ST-Link_CLI is proper for .bin & .hex loading
If you are looking to generate .hex file, this is possible through :
Project Properties > C/C++ Build > Settings > Build Steps (TAB) > Post-build steps :
replace this command:

arm-none-eabi-objcopy -O binary "${BuildArtifactFileBaseName}.elf" "${BuildArtifactFileBaseName}.bin"

by the following command:

arm-none-eabi-objcopy -O ihex "${BuildArtifactFileBaseName}.elf" "${BuildArtifactFileBaseName}.hex"

Edit :
You can also program you chip using SystemWorkbench (without debug)
in Project Explorer view > right click in your project > contextual menu > Target > Program chip