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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


[workaround] fail to start debug after update eclipse CDT to 9.4.2, error message "ST-Link server not installed"

I had managed to roll back.
Hack configuration/org.eclipse.equinox.simpleconfigurator/bundles.info
to remove the new updated components.

By doing so the eclipse use CDT 9.4.0 indeed.
Now the system workbench for STM32 works fine to build/debugging.
An interested thing is that I still see the red notes of “ST-Link Server not installed on this machine” from “Debug Configuration” , “Debugger” , “ST-Link Client Setup”, but debugging session started all fine.