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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


SWO ITM printf() output using ST-LINK utility while debugging

I don’t see you did anything wrong, but I can understand the result that you get.
The problem is that the driver of ST-LINK v2 does not designed for sharing by application
simultaneously. While you start debugging, the debugger app acquired the driver of ST-LINK v2 and the
app of ST utility can’t get the driver any more, and vice versa.