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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

CubeMX will not add “st BSP ” for nucleo or disco eval board even if you select thems
you may add the st bsp drivers file in the genererated project by copying the bsp source from the CubeXX package into project folder.

for instance on windows and a discovery f4 the bsp file are here
C:\Users\xxxxxl\STM32Cube\Repository\STM32Cube_FW_F4_V1.14.0\Drivers\BSP\STM32F4-Discovery

if you copy all from here in the cubmax src project folder then add the “src” folder as part o fthe include path it may do.

but beware do not enable in cubemx any perif handled in the bsp side it iwll generated conflict
Also you may run into msp init , irq and callback conflict when to enable or use some perif used in the bsp (i2c , spi etc...) because msp code in bsp will conflict with CubMX as it can be only one msp_init/deinit and callback per perif family .
I suspect that is why “bsp” are not hanlde by CubeMX

basicaly st “bsp” are not very friendly to upgraed or re-use as is,
but you can easily look at the st bsp files to learn and copy paste the bit of code you need into your own project (inisde cubemx “user” banner).

To learn you can use the CubeXX bsp example or demo projet as starting point lcoated here
C:\Users\xxx\STM32Cube\Repository\STM32Cube_FW_F4_V1.14.0\Projects\STM32F4-Discovery\Examples\BSP\SW4STM32\STM32F4-Discovery

but beware copying and duplicating this projects oustide the “CubeXX” repo may not be easy, also all drivers files are shared among all projects and cubemx so any changes you do here will affect all!