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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


Dual processor simultaneous debug setup?

This sounds neither an SW4STM32 question nor OpenOCD debug question.
First the question is, how did you configure the SPI on tow side? One is Master and other is Slave? In that case,
the Master drive the SPI’s clock, so you should pause the microcontroller on Master side first and then the Slave site.