I have ported the firmware to the keil MDK.And there is no error in compile. However it could not run after reset and enter the HardFault_Handler . I don't know where is the problem.
I do this work just for fun and I will upload the code to github when it could work. I want to do someing for autoquad.
If you are interested in this work , I am pleasure to discuss with you .My email is firstname.lastname@example.org.