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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


OpenOCD not working under System Workbench

Openocd in SW4STM32 also detect the stlink version (since a few versions of the ide, so before openocd did the change).

I don’t know if on Mint18, this is the same udev rules mechanism for declaring stlink usb pids as on Ubuntu for example.
It seems yes, looking on web quickly.

Or maybe you are using an old STLINK V1 ?

Rgds,
Laurent