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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

Also something else helpful to know. In the debugger settings under the “Debugger” tab and in the “Config options” text box where you enter “-f C:\path to scripts\scripts\board\your board .cfg file” you also need to continue the argument line with a space and then “-s C:\path to scripts\scripts”. Make sure you keep the .cfg files tree starting with “scripts” intact such that the tree looks like:
scripts\boards
scripts\target
scripts\interface

that way when openOCD runs the first script as directed by the -f switch, the other .cfg files called for target and interface will be found. -s switch tells openOCD what the working directory (or base directory) is for openOCD scripts.