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I have been doing some work on Esp32 modules using Visual Studio and VisualGDB plugin. and after getting used to the VS IDE quite like it.
VisualGDB announced that they are
fully compatible with the Keil ARM compiler. This includes seamless MSBuild support with Keil-specific property sheets, Makefile support as an alternative to MSBuild, and a settings page for easily integrating Keil packs into your project.
I imported a Keil version 5 project and was surprised to see it just works (Compiles, and debugs with a ST linkV2)
Not tried to use it in anger on project but would be interested to see find out if anyone else is and what is their prefernace eg the Keil IDE or Visual Studio IDE.
P.S I do have a licensed Keil seat
Sorry guys I haven't used It in anger on a ARM product or using it with the ARM compiler and linker etc.
I have only used the VS IDE with visual GDB for the esp32. But in the near future will be back on STM32Fxx devices so will be in a position to tell you more then regards debugging etc.