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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


After update debug does not work, failed to execute MI command

The best solution I have found is to not use workbench. I loaded the latest Eclipse (Mars.2) and added the plugins for GNU arm, installed the latest openOCD, installed the latest texane STLink, and installed the GNU Utilities and copied make.exe from there over to the ARM tool set directory. After that I am able to start a new project based on the STM32fx I am using (such as STM32F7) and compile, then run the debugger.