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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


It is possible to develop firmware for BlueNRG-2 on System Workbench for STM32?

For BlueNRG1 or BlueNRG2, ST provides their own SDK with close sourced BLE lib. You should download and install the SDK to start experimental project.
There are example projects in the SDK packages. Those projects are for IAR/MSD/Atollic and all on Windows. Although the Atollic TrueStudio can run on Linux and MacOS, the example project itself has some settings which only for Windows, so has to fix errors before can build Atollic example project on Linux/MacOS. I have those fix available, and can push to github if some demands exist.
I had questioned ST, as they said, there no plan to support BlueNRG1/2 on STM32CubeIDE. So right now Atollic TrueStudio is the only hope.