增加can烧写固件，增加指示灯显示canid

2026-04-07 17:44:06 +08:00 · 2026-04-07 17:44:06 +08:00 · bf731467e4
commit bf731467e4
parent f175b617cd
16 changed files with 910 additions and 125 deletions
--- a/Core/Inc/blt_conf.h
+++ b/Core/Inc/blt_conf.h
@ -70,7 +70,7 @@
 /** \brief Enable/disable CAN transport layer. */
 #define BOOT_COM_CAN_ENABLE             (1)
 /** \brief Configure the desired CAN baudrate. */
-#define BOOT_COM_CAN_BAUDRATE           (500000)
+#define BOOT_COM_CAN_BAUDRATE           (1000000)
 /** \brief Configure CAN message ID target->host. */
 #define BOOT_COM_CAN_TX_MSG_ID          (0x7E1 /*| 0x80000000*/)
 /** \brief Configure CAN message ID host->target. */
@ -126,7 +126,7 @@
 /** \brief Configure the size of the default memory device (typically flash EEPROM). */
 #define BOOT_NVM_SIZE_KB                (1024)
 /** \brief Enable/disable hooks functions to override the user program checksum handling. */
-#define BOOT_NVM_CHECKSUM_HOOKS_ENABLE  (0)
+#define BOOT_NVM_CHECKSUM_HOOKS_ENABLE  (1)


 /****************************************************************************************
--- a/Core/Src/hooks.c
+++ b/Core/Src/hooks.c
@ -55,7 +55,7 @@ blt_bool CpuUserProgramStartHook(void)
   * board. to force the bootloader to stay active after reset, keep it pressed during
   * reset for at least BOOT_BACKDOOR_ENTRY_TIMEOUT_MS.
   */
-  if (LL_GPIO_IsInputPinSet(GPIOC, LL_GPIO_PIN_13) == 0)
+  if (LL_GPIO_IsInputPinSet(GPIOA, LL_GPIO_PIN_9) == 0)
  {
    /* pushbutton pressed, so do not start the user program and keep the
     * bootloader active instead.
@ -87,7 +87,7 @@ void CopInitHook(void)
  /* this function is called upon initialization. might as well use it to initialize
   * the LED driver. It is kind of a visual watchdog anyways.
   */
-  LedBlinkInit(1000);
+  LedBlinkInit(500);
 } /*** end of CopInitHook ***/


--- a/Core/Src/led.c
+++ b/Core/Src/led.c
@ -33,8 +33,10 @@
 #include "led.h"                                 /* module header                      */
 #include "stm32l4xx.h"                           /* STM32 CPU and HAL header           */
 #include "stm32l4xx_ll_gpio.h"                   /* STM32 LL GPIO header               */
+#include "flash_config.h"                         /* flash configuration header         */
+#include "timer.h"                                /* timer driver header                */

-
+extern FlashConfig_t *g_flashConfig;
 /****************************************************************************************
 * Local data declarations
 ****************************************************************************************/
@ -50,8 +52,28 @@ static blt_int16u ledBlinkIntervalMs;
 ****************************************************************************************/
 void LedBlinkInit(blt_int16u interval_ms)
 {
+  blt_bool ledOn = BLT_FALSE;
+  int i = 0;
  /* store the interval time between LED toggles */
  ledBlinkIntervalMs = interval_ms;
+  while(i < g_flashConfig->can_id)
+  {
+    /* toggle the LED state */
+    if (ledOn == BLT_FALSE)
+    {
+      ledOn = BLT_TRUE;
+      LL_GPIO_SetOutputPin(GPIOA, LL_GPIO_PIN_15);
+      blt_delay(200);
+    }
+    else
+    {
+      ledOn = BLT_FALSE;
+      LL_GPIO_ResetOutputPin(GPIOA, LL_GPIO_PIN_15);
+      blt_delay(300);
+      i++;
+    }
+    
+  }
 } /*** end of LedBlinkInit ***/


--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@ -179,15 +179,15 @@ void HAL_MspInit(void)
  GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
-  GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
+  GPIO_InitStruct.Pull = LL_GPIO_PULL_UP;
  LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-  LL_GPIO_ResetOutputPin(GPIOA, LL_GPIO_PIN_15);
+  LL_GPIO_SetOutputPin(GPIOA, LL_GPIO_PIN_15);

  /* Configure GPIO pin for (optional) backdoor entry input. */
-  GPIO_InitStruct.Pin = LL_GPIO_PIN_13;
-  GPIO_InitStruct.Mode = LL_GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
-  LL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+  // GPIO_InitStruct.Pin = LL_GPIO_PIN_13;
+  // GPIO_InitStruct.Mode = LL_GPIO_MODE_INPUT;
+  // GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
+  // LL_GPIO_Init(GPIOC, &GPIO_InitStruct);

 #if (BOOT_COM_RS232_ENABLE > 0)
  /* UART TX and RX GPIO pin configuration. */
--- a/Drivers/OpenBLT/boot.c
+++ b/Drivers/OpenBLT/boot.c
@ -30,7 +30,10 @@
 * Include files
 ****************************************************************************************/
 #include "boot.h"                                /* bootloader generic header          */
+#include "flash_config.h"                         /* flash configuration header         */
+#include <stdio.h>

+FlashConfig_t *g_flashConfig = NULL;

 /************************************************************************************//**
 ** \brief     Initializes the bootloader core.
@ -41,12 +44,13 @@ void BootInit(void)
 {
  /* initialize the CPU */
  CpuInit();
-  /* initialize the watchdog */
-  CopInit();
  /* initialize the millisecond timer */
  TimerInit();
  /* initialize the non-volatile memory driver */
  NvmInit();
+  g_flashConfig = Flash_ReadConfig();
+  /* initialize the watchdog */
+  CopInit();
 #if (BOOT_FILE_SYS_ENABLE > 0)
  /* initialize the file system module */
  FileInit();
--- a/Drivers/OpenBLT/can.c
+++ b/Drivers/OpenBLT/can.c
@ -34,8 +34,9 @@
 #if (BOOT_COM_CAN_ENABLE > 0)
 #include "stm32l4xx.h"                           /* STM32 CPU and HAL header           */
 #include "stm32l4xx_ll_rcc.h"                    /* STM32 LL RCC header                */
+#include "flash_config.h"                         /* flash configuration header         */

-
+extern FlashConfig_t *g_flashConfig;
 /****************************************************************************************
 * Macro definitions
 ****************************************************************************************/
@ -163,7 +164,7 @@ void CanInit(void)
  blt_int16u prescaler = 0;
  blt_int8u  tseg1 = 0, tseg2 = 0;
  CAN_FilterTypeDef filterConfig;
-  blt_int32u rxMsgId = BOOT_COM_CAN_RX_MSG_ID;
+  blt_int32u rxMsgId = g_flashConfig->can_id | 0x10; /* set the ID-type bit to filter both standard and extended IDs */
  blt_int32u rxFilterId, rxFilterMask;
  /* the current implementation supports CAN1 and 2. throw an assertion error in case a
   * different CAN channel is configured.
@ -252,7 +253,7 @@ void CanInit(void)
 ****************************************************************************************/
 void CanTransmitPacket(blt_int8u *data, blt_int8u len)
 {
-  blt_int32u txMsgId = BOOT_COM_CAN_TX_MSG_ID;
+  blt_int32u txMsgId = g_flashConfig->can_id;
  CAN_TxHeaderTypeDef txMsgHeader;
  blt_int32u txMsgMailbox;
  blt_int32u timeout;
@ -309,7 +310,7 @@ void CanTransmitPacket(blt_int8u *data, blt_int8u len)
 ****************************************************************************************/
 blt_bool CanReceivePacket(blt_int8u *data, blt_int8u *len)
 {
-  blt_int32u rxMsgId = BOOT_COM_CAN_RX_MSG_ID;
+  blt_int32u rxMsgId = g_flashConfig->can_id | 0x10;
  blt_bool result = BLT_FALSE;
  CAN_RxHeaderTypeDef rxMsgHeader;

--- a/Drivers/OpenBLT/flash_config.c
+++ b/Drivers/OpenBLT/flash_config.c
@ -0,0 +1,91 @@
+#include "flash_config.h"
+#include <stdint.h>
+#include "stm32l4xx.h"
+
+#define FLASH_BASE_ADDR     0x08000000UL
+// #define FLASH_PAGE_SIZE     0x800       // 2KB
+#define FLASH_PAGE_NUM      128
+#define FLASH_USER_PAGE     (FLASH_PAGE_NUM - 1)
+#define FLASH_USER_ADDR     (FLASH_BASE_ADDR + FLASH_USER_PAGE * FLASH_PAGE_SIZE)
+#define FLASH_EMPTY_DWORD   0xFFFFFFFFFFFFFFFFULL
+
+static uint16_t Flash_CalcCrc(const FlashConfig_t *cfg)
+{
+    uint16_t crc = 0xA55A;
+    crc ^= cfg->can_id;
+    crc ^= ((uint16_t)cfg->sensorDir << 8) | cfg->debugFlag;
+    return crc;
+}
+
+static void Flash_LoadDefaultConfig(FlashConfig_t *cfg)
+{
+    cfg->can_id = 0x01;
+    cfg->sensorDir = 0;
+    cfg->debugFlag = 0;
+    cfg->crc = Flash_CalcCrc(cfg);
+}
+
+static uint64_t Flash_PackConfig(const FlashConfig_t *cfg)
+{
+    uint64_t data = 0;
+
+    data |= (uint64_t)(cfg->can_id & 0xFFFFU);
+    data |= ((uint64_t)cfg->sensorDir << 16);
+    data |= ((uint64_t)cfg->debugFlag << 24);
+    data |= ((uint64_t)cfg->crc << 32);
+
+    return data;
+}
+
+static void Flash_UnpackConfig(uint64_t data, FlashConfig_t *cfg)
+{
+    cfg->can_id = (uint16_t)(data & 0xFFFFU);
+    cfg->sensorDir = (uint8_t)((data >> 16) & 0xFFU);
+    cfg->debugFlag = (uint8_t)((data >> 24) & 0xFFU);
+    cfg->crc = (uint16_t)((data >> 32) & 0xFFFFU);
+}
+
+FlashConfig_t currentCfg;
+FlashConfig_t *Flash_ReadConfig(void)
+{
+    uint64_t rawData = *(volatile uint64_t *)FLASH_USER_ADDR;
+
+    if (rawData == FLASH_EMPTY_DWORD)
+    {
+        Flash_LoadDefaultConfig(&currentCfg);
+        return &currentCfg;
+    }
+
+    Flash_UnpackConfig(rawData, &currentCfg);
+
+    if ((currentCfg.can_id > 0x7FFU) || (currentCfg.crc != Flash_CalcCrc(&currentCfg)))
+    {
+        Flash_LoadDefaultConfig(&currentCfg);
+    }
+
+    return &currentCfg;
+}
+
+void Flash_WriteConfig(FlashConfig_t *cfg)
+{
+    uint64_t data;
+
+    cfg->crc = Flash_CalcCrc(cfg);
+    data = Flash_PackConfig(cfg);
+
+    HAL_FLASH_Unlock();
+
+    FLASH_EraseInitTypeDef erase;
+    uint32_t page_error;
+
+    erase.TypeErase = FLASH_TYPEERASE_PAGES;
+    erase.Page      = FLASH_USER_PAGE;
+    erase.NbPages   = 1;
+
+    HAL_FLASHEx_Erase(&erase, &page_error);
+
+    uint32_t addr = FLASH_USER_ADDR;
+    HAL_FLASH_Program(FLASH_TYPEPROGRAM_DOUBLEWORD, addr, data);
+
+    HAL_FLASH_Lock();
+}
--- a/Drivers/OpenBLT/flash_config.h
+++ b/Drivers/OpenBLT/flash_config.h
@ -0,0 +1,16 @@
+#ifndef _FLASH_CONFIG_H_
+#define _FLASH_CONFIG_H_
+#include <stdint.h>
+
+typedef struct
+{
+    uint16_t can_id;
+    uint8_t sensorDir; // 0: 正常，1: 反转
+    uint8_t debugFlag; // 0: 无调试信息，1: 输出调试信息
+    uint16_t crc;   // 可选，简单校验
+} FlashConfig_t;
+
+FlashConfig_t *Flash_ReadConfig(void);
+void Flash_WriteConfig(FlashConfig_t *cfg);
+
+#endif /* _FLASH_CONFIG_H_ */
--- a/Drivers/OpenBLT/timer.c
+++ b/Drivers/OpenBLT/timer.c
@ -185,5 +185,19 @@ uint32_t HAL_GetTick(void)
  return TimerGet();
 } /*** end of HAL_GetTick ***/

+void blt_delay(blt_int32u Delay)
+{
+  blt_int32u tickstart = TimerGet();
+  blt_int32u wait = Delay;

+  /* Add a period to guaranty minimum wait */
+  if (wait < 0xFFFFFFFFU)
+  {
+    wait += (blt_int32u)1;
+  }
+
+  while ((TimerGet() - tickstart) < wait)
+  {
+  }
+} /*** end of HAL_Delay ***/
 /*********************************** end of timer.c ************************************/
--- a/Drivers/OpenBLT/timer.h
+++ b/Drivers/OpenBLT/timer.h
@ -35,7 +35,7 @@ void       TimerInit(void);
 void       TimerUpdate(void);
 blt_int32u TimerGet(void);
 void       TimerReset(void);
-
+void blt_delay(blt_int32u Delay);

 #endif /* TIMER_H */
 /*********************************** end of timer.h ************************************/
--- a/MDK-ARM/RTE/_arm_joint_sensor_bootloader/RTE_Components.h
+++ b/MDK-ARM/RTE/_arm_joint_sensor_bootloader/RTE_Components.h
@ -1,7 +1,6 @@
-
 /*
- * Auto generated Run-Time-Environment Configuration File
- *      *** Do not modify ! ***
+ * UVISION generated file: DO NOT EDIT!
+ * Generated by: uVision version 5.41.0.0
 *
 * Project: 'arm_joint_sensor_bootloader' 
 * Target:  'arm_joint_sensor_bootloader' 
--- a/MDK-ARM/arm_joint_sensor_bootloader.uvguix.66437
+++ b/MDK-ARM/arm_joint_sensor_bootloader.uvguix.66437
--- a/MDK-ARM/arm_joint_sensor_bootloader.uvoptx
+++ b/MDK-ARM/arm_joint_sensor_bootloader.uvoptx
@ -145,41 +145,89 @@
        <SetRegEntry>
          <Number>0</Number>
          <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>-U16004A002933353739303541 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32L4xx_256.FLM -FS08000000 -FL08000 -FP0($$Device:STM32L431CCUx$CMSIS\Flash\STM32L4xx_256.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2 -WK0</Name>
+          <Name>-U16004A002933353739303541 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32L4xx_256.FLM -FS08000000 -FL03000 -FP0($$Device:STM32L431CCUx$CMSIS\Flash\STM32L4xx_256.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2 -WK0-R0</Name>
        </SetRegEntry>
      </TargetDriverDllRegistry>
      <Breakpoint>
        <Bp>
          <Number>0</Number>
          <Type>0</Type>
-          <LineNumber>203</LineNumber>
+          <LineNumber>118</LineNumber>
          <EnabledFlag>1</EnabledFlag>
-          <Address>134224634</Address>
+          <Address>134219106</Address>
          <ByteObject>0</ByteObject>
          <HtxType>0</HtxType>
          <ManyObjects>0</ManyObjects>
          <SizeOfObject>0</SizeOfObject>
          <BreakByAccess>0</BreakByAccess>
          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\Drivers\OpenBLT\rs232.c</Filename>
+          <Filename>..\Drivers\OpenBLT\cpu.c</Filename>
          <ExecCommand></ExecCommand>
-          <Expression>\\arm_joint_sensor_bootloader\../Drivers/OpenBLT/rs232.c\203</Expression>
+          <Expression>\\arm_joint_sensor_bootloader\../Drivers/OpenBLT/cpu.c\118</Expression>
        </Bp>
        <Bp>
          <Number>1</Number>
          <Type>0</Type>
-          <LineNumber>494</LineNumber>
+          <LineNumber>60</LineNumber>
          <EnabledFlag>1</EnabledFlag>
-          <Address>134220444</Address>
+          <Address>134218678</Address>
          <ByteObject>0</ByteObject>
          <HtxType>0</HtxType>
          <ManyObjects>0</ManyObjects>
          <SizeOfObject>0</SizeOfObject>
          <BreakByAccess>0</BreakByAccess>
          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>..\Drivers\OpenBLT\boot.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\arm_joint_sensor_bootloader\../Drivers/OpenBLT/boot.c\60</Expression>
+        </Bp>
+        <Bp>
+          <Number>2</Number>
+          <Type>0</Type>
+          <LineNumber>71</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134218682</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>..\Drivers\OpenBLT\boot.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\arm_joint_sensor_bootloader\../Drivers/OpenBLT/boot.c\71</Expression>
+        </Bp>
+        <Bp>
+          <Number>3</Number>
+          <Type>0</Type>
+          <LineNumber>77</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134221972</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>..\Core\Src\led.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\arm_joint_sensor_bootloader\../Core/Src/led.c\77</Expression>
+        </Bp>
+        <Bp>
+          <Number>4</Number>
+          <Type>0</Type>
+          <LineNumber>494</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>0</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>0</BreakIfRCount>
          <Filename>..\Drivers\OpenBLT\flash.c</Filename>
          <ExecCommand></ExecCommand>
-          <Expression>\\arm_joint_sensor_bootloader\../Drivers/OpenBLT/flash.c\494</Expression>
+          <Expression></Expression>
        </Bp>
      </Breakpoint>
      <WatchWindow1>
@ -330,7 +378,7 @@

  <Group>
    <GroupName>Drivers/STM32L4xx_HAL_Driver</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@ -1094,6 +1142,18 @@
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
+    <File>
+      <GroupNumber>5</GroupNumber>
+      <FileNumber>67</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Drivers\OpenBLT\flash_config.c</PathWithFileName>
+      <FilenameWithoutPath>flash_config.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
  </Group>

  <Group>
--- a/MDK-ARM/arm_joint_sensor_bootloader.uvprojx
+++ b/MDK-ARM/arm_joint_sensor_bootloader.uvprojx
@ -16,7 +16,7 @@
        <TargetCommonOption>
          <Device>STM32L431CCUx</Device>
          <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32L4xx_DFP.3.1.0</PackID>
+          <PackID>Keil.STM32L4xx_DFP.3.0.0</PackID>
          <PackURL>https://www.keil.com/pack/</PackURL>
          <Cpu>IRAM(0x20000000-0x2000BFFF) IRAM2(0x10000000-0x10003FFF) IROM(0x8000000-0x803FFFF) CLOCK(8000000) FPU2 CPUTYPE("Cortex-M4") TZ</Cpu>
          <FlashUtilSpec></FlashUtilSpec>
@ -82,7 +82,7 @@
          <AfterMake>
            <RunUserProg1>1</RunUserProg1>
            <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name>D:\Keil_v5\ARM\ARMCC\bin\fromelf.exe --m32 arm_joint_sensor_bootloader\arm_joint_sensor_bootloader.axf --output arm_joint_sensor_bootloader\arm_joint_sensor_bootloader.srec</UserProg1Name>
+            <UserProg1Name>fromelf.exe --m32 arm_joint_sensor_bootloader\arm_joint_sensor_bootloader.axf --output output\arm_joint_sensor_bootloader.srec</UserProg1Name>
            <UserProg2Name></UserProg2Name>
            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
            <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
@ -734,6 +734,11 @@
              <FileType>1</FileType>
              <FilePath>..\Drivers\OpenBLT\xcp.c</FilePath>
            </File>
+            <File>
+              <FileName>flash_config.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Drivers\OpenBLT\flash_config.c</FilePath>
+            </File>
          </Files>
        </Group>
        <Group>
--- a/MDK-ARM/output/arm_joint_sensor_bootloader.srec
+++ b/MDK-ARM/output/arm_joint_sensor_bootloader.srec
@ -0,0 +1,555 @@
+S31508000000880C00202D020008350200083702000877
+S31508000010390200083B0200083D0200080000000003
+S315080000200000000000000000000000003F02000879
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+S315080000B04702000800000000000000004702000890
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+S315080000E04702000847020008000000000000000060
+S315080000F000000000000000000000000000000000F2
+S31508000100000000004702000800000000470200083F
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--- a/MDK-ARM/startup_stm32l431xx.lst
+++ b/MDK-ARM/startup_stm32l431xx.lst
@ -616,9 +616,9 @@ ARM Macro Assembler    Page 10
 Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M4.fp.sp --apcs=
 interwork --depend=arm_joint_sensor_bootloader\startup_stm32l431xx.d -oarm_join
 t_sensor_bootloader\startup_stm32l431xx.o -I.\RTE\_arm_joint_sensor_bootloader 
-ID:\Keil_Package\ARM\CMSIS\5.9.0\CMSIS\Core\Include --predefine="__UVISION_VER
-SION SETA 539" --predefine="_RTE_ SETA 1" --predefine="STM32L431xx SETA 1" --pr
-edefine="_RTE_ SETA 1" --list=startup_stm32l431xx.lst startup_stm32l431xx.s
+-ID:\Keil_Pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include --predefine="__UVISION_VERSIO
+N SETA 541" --predefine="STM32L431xx SETA 1" --predefine="_RTE_ SETA 1" --list=
+startup_stm32l431xx.lst startup_stm32l431xx.s