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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


Customizing the Linker Script to place Code/Data in user defined sections

Hi,
I am a lazy guy, so to get the startup file I create a new eclipe empty project :
- Right-click in the Project Explorer window >> New >> C Project >> Project Name + Ac6 STM32 MCU Project + Ac6 STM32 MCU GCC >> Next >> Next >> Select the Series & Board >> Next >> No firmware >> Finish
In startup folder contains the startup file startup_stm32.s corresponding to the chip serie and board previously selected.
You just have to copy the Startup folder with its file into your project.

The startup file templates are available in the Cube FW package. For example :
...\STM32Cube_FW_L4_V1.5.0\Drivers\CMSIS\Device\ST\STM32L4xx\Source\Templates\gcc