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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


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sample program?

Working on it. May be awhile. One of the problems is that the projects often depend on code not in the project tree, such as the code found in /Utilities/... The fact that it takes 4 minutes to get to Project>C/C++Build>Settings to edit paths and such is no help. I have resorted to modifying the .cproject (xml) file outside of eclipse and restarting eclipse as a work around.