Hi,
There is no development support from ST to use STM32MP15 in bare-metal, only Linux or Android are supported. CubeMP1 HAL library are only intended to be used for Cortex-M4.
For bare-metal, you will probably have to do a lot of custom development or use a 3rd party. Cortex-A low level development is less friendly than Cortex-M.
In bare metal, GPU is unlikely to be usable (only a Linux/android binary is provided). Managing dual-Cortex-A7 in bare metal is also complex.
Nevertheless, TF-A (and maybe uBoot) are kind of bare-metal SW (with very limited set of peripheral support).
Only looking at Coremark, Cortex-A7 is less powerful than Cortex-M7 (in STM32H7). Cortex-A7 exhibit around 3 or 4 Coremark per MHz per core (depend on ARM/Thumb code execution and used compiler). Cortex-M7 is reaching 5 per MHz.
Nevertheless, Coremark is only showing one part of the performance you could get, Cortex-A7 usually provide larger caches, complex/secure MMU support, NEON coprocessor, etc... and last but not least, the Linux ecosystem and communities.
Regards.
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