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The project is based on FreeRTOS and applied with OOD(Object Oriented Design)

The list of struct are shown below:
``````

typedef struct {
	int SYSIO;
	int BASEIO;
	int EN;
} IOPort;

typedef struct {
	int SYSPWM;
	int BASEPWM;
	int EN;
} PWM;

typedef struct {
	PWM PWMCORE;
	int GEN;
	int OUT;
} pwmChan;

typedef struct {
	IOPort io_port;
	int io_pin;
	int io_config;
	int io_status;
} digPin;

typedef struct {
	pwmChan io_pwm;
	digPin  io_pin;
	int io_gen;
	int period;
	int duty;
} pwmPin;

typedef struct {
	int io_SYSADC;
	int io_BASEADC;
	int io_channel;
	digPin io_pin;
	int val;
} adcPin;

typedef struct{
	digPin A;
	digPin B;
	int count;
	uint8_t state;
} encoder;

typedef struct{
    int diff;
    int last_diff;
    int total_diff;

    float constant_gain;

    float Kp;
    float Ki;
    float Kd;

    int PID_out;
} PID_controller;
``````