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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


ST-link printf to console with GDB and semihosting or ITM and ST Link Utility

I found that Semihosting does not work when in release mode (burning)
therefore i used to comment and uncomment the call to initialise_monitor_handles() each time per release/debug

To avoid it i did the following
1. in main.c define weak stub
__weak void initialise_monitor_handles( void )
{
}

2. continue calling initialise_monitor_handles() in main() anyway

If debugging, the initialise_monitor_handles() will be taken from linked library rdimon
If working in release mode, initialise_monitor_handles() will be taken from the main.c implementation (because you are not liked to rdimon library anymore)