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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


Can't create Ac6 Debug Configuration to CubeMX project

Hi,
The solution proposed by Kevin is working for me.
There is no ST Board for the F407VE, but I can launch the debug on a custom board with the following steps :
- I choose Debug As > Debug configurations >> Ac6 STM32 C/C++ Application;
- I update the “Debug Device” and “Debug interface” fields depending on the custom board features (see snapshot);
... then it works