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

SWO ITM printf() output using ST-LINK utility while debugging

May be this can help a bit: ((https://github.com/rokath/trice |https://github.com/rokath/trice ))
If you try the RTTD variant, on a debug step over a TRICE macro you see immediately the output.