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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


"printf("line: %d \n", __LINE__);" does not work on System Workbench

OK. It looks that you need to learn how to search around to find information you need.
Basically the ARM semihosting need to have the debugger semihosting channel connected, or the firmware will hanging. The best practice to deal this issue is to wrap your printf with a compiler option for debugging, and undefine this compiler option while build for release/Run.
I’m using my spare time to do the research to try to find a better way to deal this issue, aka. detect the status of debugger’s semihosting channel connection, and then to send the data over or drop them. The progress is quite slow and I don’t think I can make it soon.