Question 1: The code produced according to the matlab step model can be run. Why is the stm32cubeIDE folder produced (keil cannot open it) but not the MDK-ARM folder?

Question 1: The code produced according to the matlab step model can be run. Why is the stm32cubeIDE folder produced (keil cannot open it) but not the MDK-ARM folder?

Question 2: As in question 1, change the Toolchain/IDE to MDK-ARM in stm32cubeMX to generate a project opened by keil. Load the .c/.h file generated by simulink

In the keil project (like blue), but the compilation package has the following error. What is the cause and how to solve it? Is there any latest complete operation process that adapts to the above environment?

Note 1: In question 2, add the header file #include "G474RE1.h" #include "rtwtypes.h" in "stm32g4xx_it.c".

Note 2: stm_fdcan_hal.h/stm_fdcan_hal.c/platform_timer.c are all added after errors occurred during the compilation process.

Note 3: With a simple GPIO operation model, there is no problem in generating .c/.h code and loading the keil project for compilation.