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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


Error: jtag status contains invalid mode value - communication failure

This seems ok.
You can also connect pin 1 of STLink 20 pins header to your MCU VDD.
The STLink monitor the VDD and adapt itself.

For the Reset, i don’t know then, maybe try removing the cap and short the resistor.

If you have an oscilloscope, you could check the signal is ok.