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 two short videos (registration required) highlighting:

System Workbench for STM32

Can't Debug in Engineering Mode using STM32MP157-DK2.

Did you find a solution ? Same problem here. STLINK connected with DIO , CLK and GND
Debug As...

Error: Could not find MEM-AP to control the core
ap 0 selected, csw 0x10006000
Error: Target not examined yet

undefined debug reason 7 - target needs reset
Error: Target not examined yet
Error: Target not examined yet
Error: Target not examined yet