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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 two short videos (registration required) highlighting:

System Workbench for STM32


error while uploading : open ocd child process termination reason:unplugged target or stlink already in use or stlink usbdriver not installed

On terminal, when running “lsusb”, do you see :
Bus 002 Device 046: ID 0483:3748 STMicroelectronics ST-LINK/V2

I did just test your code and it worked well.

My OpenOCD output console :
Open On-Chip Debugger 0.10.0+dev-00021-g524e8c8 (2019-04-12-08:33)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
srst_only separate srst_nogate srst_open_drain connect_assert_srst
Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
adapter speed: 8000 kHz
adapter_nsrst_delay: 100
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : clock speed 8000 kHz
Info : STLINK v2 JTAG v17 API v2 SWIM v0 VID 0x0483 PID 0x3748
Info : using stlink api v2
Info : Target voltage: 2.894991
Info : STM32F303VCTx.cpu: hardware has 6 breakpoints, 4 watchpoints
Info : Listening on port 3333 for gdb connections
Info : accepting ‘gdb’ connection on tcp/3333

Maybe there is an issue on your board, or maybe you should update the ST-Link firmware (https://www.st.com/en/development-tools/stsw-link007.html).