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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


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Starting with SW4STM32

BSP means Board Support Package, which is specific to the board hardware.
Usually the vendor who provides the board will provide an emaple of BSP to the board.
You have to read the hardware specification document to understand how to work with those hardware components, and then make your own version of BSP.