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 two short videos (registration required) highlighting:

System Workbench for STM32

SystemWorkBench Includes problem on Linux - OK on Windows (From a CubeMX project)

I use CubeMX generated projects on Linux with SystemWorkbench, they work fine.

From memory there are two ways to include the firmware (as references or copied into your project - just checked in CubeMX Project Menu, Project Settings, Code Generator tab)... I use the copy method and that seems to work ok.