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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


Wanted: Compatibility matrix between SW4STM32 and JTAG programmers

Hi,
The first columns explain the signals functionalities.
SW4STM32 will only use JTAG pins when in JTAG mode or SWD pins when in SWD mode.
All the STM32 nucleo and disco have only SWD connection.
The advantage of SWD is pin reduction compares to JTAG.
The only drawback i see is if using several boards (mcus) in daisy chain. Daisy chain access is not possible in SWD.